Estop and bumper use active #281
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falkoschindler
requested changes
Apr 28, 2025
| super().__init__(robot_brain=robot_brain, | ||
| lizard_code=lizard_code, | ||
| core_message_fields=core_message_fields, | ||
| estop=estop) | ||
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| def handle_core_output(self, time: float, words: list[str]) -> None: | ||
| active_bumpers = [pin for pin in self.pins if int(words.pop(0)) == 1] | ||
| active_bumpers = [pin for pin in self.pins if (words.pop(0)) == 'true'] |
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Suggested change
| active_bumpers = [pin for pin in self.pins if (words.pop(0)) == 'true'] | |
| active_bumpers = [pin for pin in self.pins if words.pop(0) == 'true'] |
| super().__init__(robot_brain=robot_brain, lizard_code=lizard_code, core_message_fields=core_message_fields) | ||
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| async def set_soft_estop(self, active: bool) -> None: | ||
| await super().set_soft_estop(active) | ||
| await self.robot_brain.send(f'en3.level({"false" if active else "true"})') | ||
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| def handle_core_output(self, time: float, words: list[str]) -> None: | ||
| corelist = [int(words.pop(0)) == 0 for _ in self.pins] | ||
| corelist = [(words.pop(0)) == 'true' for _ in self.pins] |
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| corelist = [(words.pop(0)) == 'true' for _ in self.pins] | |
| corelist = [words.pop(0) == 'true' for _ in self.pins] |
| self.name = name | ||
| self.pins = pins | ||
| self.inverted = inverted |
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This member variable isn't used. Should we remove it?
| self.name = name | ||
| self.pins = pins | ||
| self.inverted = inverted |
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This member variable isn't used. Should we remove it?
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The bumper and estops still use the
levelof the Inputs. With the introduction of theactiveproperty to Lizard in zauberzeug/lizard#38 we can make the code more readable and understandable. This also allows us to invert the inputs for specific robot configurations.With this change we will need to reconfigure our robots to use
activeinstead oflevel. This is a breaking change.