Merge pull request mirte-robot#3 from ArendJan/martinmain

select set encoder function based on type
AntoniosBarotsis · Jun 1, 2023 · 9f74836 · 9f74836
2 parents 7cd4409 + 1e0274e
commit 9f74836
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Showing 2 changed files with 9 additions and 3 deletions.
diff --git a/mirte_telemetrix/config/mirte_user_config.yaml b/mirte_telemetrix/config/mirte_user_config.yaml
@@ -2,15 +2,15 @@ device:
   mirte:
     type: breadboard
     mcu: pico
-    max_frequency: 100
+    max_frequency: 10
 distance:
   left:
     name: left
     device: mirte
     pins:
       trigger: 7
       echo: 6
-motor:
+encoder:
   left:
     name: left
     device: mirte

diff --git a/mirte_telemetrix/scripts/ROS_telemetrix_aio_api.py b/mirte_telemetrix/scripts/ROS_telemetrix_aio_api.py
@@ -8,6 +8,8 @@
 import signal
 import aiorospy
 import io
+from inspect import signature
+
 
 # Import the right Telemetrix AIO
 devices = rospy.get_param('/mirte/device')
@@ -336,6 +338,7 @@ def get_data(self, req):
         return GetDistanceResponse(self.last_publish_value.range)
 
     async def start(self):
+        await self.board.set_scan_delay(100)
         await self.board.set_pin_mode_sonar(self.pins["trigger"], self.pins["echo"], self.publish_data)
 
     async def publish_data(self, data):
@@ -407,7 +410,10 @@ def get_data(self, req):
         return GetEncoderResponse(self.last_publish_value.value)
 
     async def start(self):
-        await self.board.set_pin_mode_encoder(self.pins["pin"], 2, self.ticks_per_wheel, self.publish_data)
+        if("encoder_pin" in signature(self.board.set_pin_mode_encoder).parameters):
+            await self.board.set_pin_mode_encoder(self.pins["pin"], 2, self.ticks_per_wheel, self.publish_data)
+        else:
+            await self.board.set_pin_mode_encoder(self.pins["pin"], 0, self.publish_data, False)
         rospy.Timer(rospy.Duration(1.0/10.0), self.publish_speed_data)
 
     def publish_speed_data(self, event=None):