Pushing changes

nwdepatie · Mar 27, 2024 · f3da418 · f3da418
1 parent 1e47fb7
commit f3da418
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Showing 6 changed files with 24 additions and 14 deletions.
diff --git a/mercury-app/src/hw_ifc/src/gantry_sub.rs b/mercury-app/src/hw_ifc/src/gantry_sub.rs
@@ -98,15 +98,19 @@ impl GantryController {
             .model
             .calc_control_signals(GantryPosition::new(data.x, data.y, data.z));
 
-        self.write_steppers(stepper_cmds);
+        rosrust::ros_info!("X:{}\tY:{}\tZ:{}", data.x, data.y, data.z);
+
+        //self.write_steppers(stepper_cmds);
     }
 
     pub fn calibrate_callback(&mut self) {
         let stepper_cmds = self
             .model
             .calc_control_signals(GantryPosition::new(0.0, 0.0, 0.0));
 
-        self.write_steppers(stepper_cmds);
+        rosrust::ros_info!("CALIBRATING...");
+
+        //self.write_steppers(stepper_cmds);
     }
 }
 

diff --git a/mercury-app/src/hw_ifc/src/regmap.rs b/mercury-app/src/hw_ifc/src/regmap.rs
@@ -1,13 +1,13 @@
-pub const DRV_DIR_GPIO_ADDR: u32 = 0x4122_0000;
+pub const DRV_DIR_GPIO_ADDR: u32 = 0x8000_0000;
 pub const DRV_TIMER_FRONT_RIGHT_ADDR: u32 = 0x4280_0000;
 pub const DRV_TIMER_FRONT_LEFT_ADDR: u32 = 0x4281_0000;
 pub const DRV_TIMER_BACK_RIGHT_ADDR: u32 = 0x4282_0000;
 pub const DRV_TIMER_BACK_LEFT_ADDR: u32 = 0x4283_0000;
 
-pub const GANTRY_DIR1_ADDR: u32 = 0x8000_0000; // TODO: Double check Gantry DIR 1 behavior
-pub const GANTRY_DIR2_ADDR: u32 = 0x4120_0000;
-pub const GANTRY_DIR3_ADDR: u32 = 0x4121_0000;
-pub const GANTRY_RESET_ADDR: u32 = 0x4126_0000;
-pub const GANTRY_STEP1_ADDR: u32 = 0x4123_0000;
-pub const GANTRY_STEP2_ADDR: u32 = 0x4124_0000;
-pub const GANTRY_STEP3_ADDR: u32 = 0x4125_0000;
+pub const GANTRY_DIR1_ADDR: u32 = 0x4120_0000; // TODO: Double check Gantry DIR 1 behavior
+pub const GANTRY_DIR2_ADDR: u32 = 0x4121_0000;
+pub const GANTRY_DIR3_ADDR: u32 = 0x4122_0000;
+pub const GANTRY_RESET_ADDR: u32 = 0x4123_0000;
+pub const GANTRY_STEP1_ADDR: u32 = 0x4124_0000;
+pub const GANTRY_STEP2_ADDR: u32 = 0x4125_0000;
+pub const GANTRY_STEP3_ADDR: u32 = 0x4126_0000;
diff --git a/mercury-app/src/hw_srv/srv/frontlight.srv b/mercury-app/src/hw_srv/srv/frontlight.srv
@@ -0,0 +1,3 @@
+uint32 brightness
+---
+bool status
diff --git a/mercury-app/src/hw_srv/srv/grip.srv b/mercury-app/src/hw_srv/srv/grip.srv
@@ -1,2 +1,2 @@
-bool brightness
----
+---
+bool status
diff --git a/mercury-app/src/hw_srv/srv/release.srv b/mercury-app/src/hw_srv/srv/release.srv
@@ -0,0 +1,2 @@
+---
+bool status
diff --git a/mercury-app/src/hw_srv/srv/worklight.srv b/mercury-app/src/hw_srv/srv/worklight.srv
@@ -1,2 +1,3 @@
-bool brightness
----
+uint32 brightness
+---
+bool status