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Pan/tilt now working from ground station with working tower on rover. Need to integreate tower node on modbus bus for that node, but overall working.

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This commit is contained in:
Corwin Perren
2018-07-14 16:19:18 -07:00
parent 1110dce885
commit de93764849
6 changed files with 33 additions and 23 deletions
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8
software/ros_packages/rover_control/src/tower_pan_tilt_control/tower_and_pan_tilt_control.py
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@@ -16,16 +16,16 @@ from rover_control.msg import TowerPanTiltControlMessage
#####################################
# Global Variables
#####################################
NODE_NAME = "drive_control"
NODE_NAME = "pan_tilt_and_tower_control"
DEFAULT_PORT = "/dev/ttyUSB0"
DEFAULT_PORT = "/dev/rover/ttyTowerAndPanTilt"
DEFAULT_BAUD = 115200
DEFAULT_INVERT = False
DEFAULT_TOWER_PAN_TILT_CONTROL_TOPIC = "tower/control"
DEFAULT_TOWER_PAN_TILT_CONTROL_TOPIC = "pan_tilt/control"
NODE_ID = 1
NODE_ID = 2
COMMUNICATIONS_TIMEOUT = 0.01 # Seconds