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wip-behaviors #3

Merged
Pimpest merged 86 commits from wip-behaviors into main 2026-05-28 06:21:26 +00:00
Conversation 0 Commits 86 Files Changed 129 +9 -9
3 changed files with 9 additions and 9 deletions
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4
toid_control/launch/toid.launch.py
View File

@@ -38,7 +38,7 @@ def generate_launch_description():
parameters=[
{
"mock_odom": use_mock,
"serial_port": "/dev/serial/by-id/usb-Mg_Robotics_Magrob_Odometry_MCU_E66368254F4F4036-if02",
"serial_port": "/dev/serial/by-id/usb-Mg_Robotics_Magrob_Odometry_MCU_504430456075AF1C-if02",
}
],
)
@@ -57,7 +57,7 @@ def generate_launch_description():
default_model_path,
" use_mock:=",
use_mock,
" serial_port:=/dev/serial/by-id/usb-Mg_Robotics_Magrob_Odometry_MCU_E66368254F4F4036-if02",
" serial_port:=/dev/serial/by-id/usb-Mg_Robotics_Magrob_Odometry_MCU_504430456075AF1C-if00",
]
)
}

12
toid_interaction/toid_interaction/interaction_node.py
View File

@@ -63,21 +63,21 @@ class InteracitionNode(Node):
return Empty.Response()
okreni(5)
zupcanik = ZupcanikAction(self.st_motor_device_name)
zupcanik.zupcanik(1, -1010, 25)
zupcanik.zupcanik(1, -1015, 25)
self.step = 1
return response
def sequence2_cb(self, request: SendString.Request, response: SendString.Response):
if self.step != 1:
return Empty.Response()
return SendString.Response()
zidovi = Zidovi(self.st_motor_device_name)
zidovi.zidovi(0, 1500, 600, 300, 100, 120)
zidovi.zidovi(1, 1500, 600, 210, 130, 130)
okreni_niz(request.text)
zidovi.zidovi(0, 1500, 450, 150, 100, 120)
zidovi.zidovi(0, 1500, 420, 30, 130, 130)
self.step = 2
return response
@@ -88,8 +88,8 @@ class InteracitionNode(Node):
zupcanik = ZupcanikAction(self.st_motor_device_name)
zidovi = Zidovi(self.st_motor_device_name)
zupcanik.zupcanik(1, 1010, 25)
zidovi.zidovi(0, 1500, 150, 150, 100, 120)
zupcanik.zupcanik(1, 1015, 25)
zidovi.zidovi(0, 1500, 180, 180, 130, 130)
okreni(5)
self.step = 0
return response

2
toid_interaction/toid_interaction/mechanism/sekvenca_2026.py
View File

@@ -8,7 +8,7 @@ import time
import serial
import serial.tools.list_ports as list_ports
SERIAL_ID = "50443405C8C3B21C"
SERIAL_ID = "259B221729115453"
def okreni(i):