modelec/modelec-marcel-ROS
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some bug

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but found a huge bug with serial comm :/
This commit is contained in:
acki
2025-05-07 13:06:21 -04:00
parent 3ea4608dbf
commit 8060e518c1
8 changed files with 48 additions and 18 deletions
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9
simulated_pcb/odo.py
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@@ -96,25 +96,31 @@ class SimulatedPCB:
def handle_message(self, msg):
if msg == "GET;POS":
print(f'[TX] SET;POS;{int(self.x)};{int(self.y)};{self.theta:.3f}')
self.ser.write(f'SET;POS;{int(self.x)};{int(self.y)};{self.theta:.3f}\n'.encode())
elif msg == "GET;SPEED":
print(f'[TX] SET;SPEED;{int(self.vx)};{int(self.vy)};{int(self.vtheta)}')
self.ser.write(f'SET;SPEED;{int(self.vx)};{int(self.vy)};{int(self.vtheta)}\n'.encode())
elif msg.startswith("GET;DIST;"):
n = int(msg.split(';')[2])
dist = self.tof.get(n, 0)
print(f'[TX] SET;DIST;{n};{dist}')
self.ser.write(f'SET;DIST;{n};{dist}\n'.encode())
elif msg == "GET;PID":
print(f'[TX] SET;PID;{self.pid[0]};{self.pid[1]};{self.pid[2]}')
self.ser.write(f'SET;PID;{self.pid[0]};{self.pid[1]};{self.pid[2]}\n'.encode())
elif msg.startswith("SET;PID"):
self.pid = list(map(int, msg.split(';')[2:5]))
self.pid = list(map(float, msg.split(';')[2:5]))
print(f'[TX] OK;PID;1')
self.ser.write(f'OK;PID;1\n'.encode())
elif msg.startswith("SET;START"):
self.start = msg.split(';')[2] == '1'
print(f'[TX] OK;START;1')
self.ser.write(f'OK;START;1\n'.encode())
elif msg.startswith("SET;WAYPOINT"):
@@ -137,6 +143,7 @@ class SimulatedPCB:
self.x = float(parts[2])
self.y = float(parts[3])
self.theta = float(parts[4])
print(f'[TX] OK;POS;1')
self.ser.write(b'OK;POS;1\n')
def stop(self):