Update launch file

CWRUbotix · May 1, 2024 · cff3f61 · cff3f61
1 parent 349b8a7
commit cff3f61
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Showing 2 changed files with 14 additions and 9 deletions.
diff --git a/src/pi/manipulators/launch/manip_launch.py b/src/pi/manipulators/launch/manip_launch.py
@@ -9,7 +9,7 @@ def generate_launch_description() -> LaunchDescription:
         executable="manipulators",
         parameters=[
             {"left": 0},
-            {"right": 1},
+            {"right": 2},
             # {"light": 2},
         ],
         remappings=[("/pi/manipulator_control", "/tether/manipulator_control")],

diff --git a/src/pi/manipulators/manipulators/manipulator_dry_run.py b/src/pi/manipulators/manipulators/manipulator_dry_run.py
@@ -16,14 +16,19 @@ def main() -> None:
     gpio.set_direction(0, bits=ALL_BITS)
     print(gpio.format_config())
 
-    # Turn on the LEDs
-    gpio.set_bits(bits=ALL_BITS)
-    print(gpio.format_config())
-    time.sleep(5)
-
-    # # Turn off the LEDs
-    gpio.unset_bits(bits=ALL_BITS)
-    print(gpio.format_config())
+    try:
+        while True:
+            # Turn on the LEDs
+            gpio.set_bits(bits=ALL_BITS)
+            print(gpio.format_config())
+            time.sleep(2)
+
+            # # Turn off the LEDs
+            gpio.unset_bits(bits=ALL_BITS)
+            print(gpio.format_config())
+            time.sleep(2)
+    except KeyboardInterrupt:
+        gpio.unset_bits(bits=ALL_BITS)
 
 
 if __name__ == "__main__":