From 4972e5b7b2074fd9e98e32c05b5e3db2632d8e6e Mon Sep 17 00:00:00 2001
From: Corwin Perren <you@example.com>
Date: Mon, 26 Feb 2018 11:36:09 +0000
Subject: [PATCH] Main drive over FrSky tested on Rover using Jetson. Works as
 intended.

---
 software/rover/rover_control/launch/rover_control.launch | 9 +++++----
 .../rover_control/src/iris_controller/iris_controller.py | 1 +
 2 files changed, 6 insertions(+), 4 deletions(-)

diff --git a/software/rover/rover_control/launch/rover_control.launch b/software/rover/rover_control/launch/rover_control.launch
index 5f12f0d..11629e9 100644
--- a/software/rover/rover_control/launch/rover_control.launch
+++ b/software/rover/rover_control/launch/rover_control.launch
@@ -1,25 +1,26 @@
  <launch>
     <group ns="rover_control">
         <node name="iris_controller" pkg="rover_control" type="iris_controller.py" output="screen">
-            <param name="port" value="/dev/rover/ttyIRIS_2_2"/>
+            <param name="port" value="/dev/rover/ttyIRIS"/>
+            <param name="hertz" value="16"/>
         </node>
 
         <node name="control_coordinator" pkg="rover_control" type="control_coordinator.py" output="screen"/>
 
         <node name="rear_bogie" pkg="rover_control" type="drive_control.py" output="screen">
-            <param name="port" value="/dev/rover/ttyIRIS_0_0"/>
+            <param name="port" value="/dev/rover/ttyBogieRear"/>
             <param name="drive_control_topic" value="drive_control/rear"/>
         </node>
 
         <node name="left_bogie" pkg="rover_control" type="drive_control.py" output="screen">
-            <param name="port" value="/dev/rover/ttyIRIS_0_1"/>
+            <param name="port" value="/dev/rover/ttyBogieLeft"/>
             <param name="drive_control_topic" value="drive_control/left"/>
             <param name="invert_first_motor" value="True"/>
             <param name="invert_second_motor" value="True"/>
         </node>
 
         <node name="right_bogie" pkg="rover_control" type="drive_control.py" output="screen">
-            <param name="port" value="/dev/rover/ttyIRIS_0_2"/>
+            <param name="port" value="/dev/rover/ttyBogieRight"/>
             <param name="drive_control_topic" value="drive_control/right"/>
         </node>
 
diff --git a/software/rover/rover_control/src/iris_controller/iris_controller.py b/software/rover/rover_control/src/iris_controller/iris_controller.py
index 6d24e7b..caebd08 100755
--- a/software/rover/rover_control/src/iris_controller/iris_controller.py
+++ b/software/rover/rover_control/src/iris_controller/iris_controller.py
@@ -83,6 +83,7 @@ class IrisController(object):
         self.drive_command_publisher_topic = rospy.get_param("~drive_command_topic", DEFAULT_DRIVE_COMMAND_TOPIC)
 
         self.wait_time = 1.0 / rospy.get_param("~hertz", DEFAULT_HERTZ)
+        # print self.wait_time
 
         self.iris = minimalmodbus.Instrument(self.port, MODBUS_ID)
         self.__setup_minimalmodbus_for_485()