Merge branch 'zauberzeug:main' into main

zauberzeug · Sep 6, 2024 · 975f29a · 975f29a
2 parents e124168 + 05d6089
commit 975f29a
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/field_friend/hardware/axis_D1.py b/field_friend/hardware/axis_D1.py
@@ -88,7 +88,7 @@ async def stop(self):
 
     async def move_to(self, position: float, speed: int | None = None) -> None:
         if self.is_referenced:
-            await self.robot_brain.send(f'{self.name}_motor.profile_position({self.compute_steps(position)});')
+            await self.robot_brain.send(f'{self.name}_motor.profile_position({self._compute_steps(position)});')
         if not self.is_referenced:
             self.log.error(f'AxisD1 {self.name} is not refernced')
             return

diff --git a/field_friend/hardware/safety.py b/field_friend/hardware/safety.py
@@ -88,9 +88,9 @@ def __init__(self, robot_brain: rosys.hardware.RobotBrain, *,
         for name in estop.pins:
             lizard_code += f'when estop_{name}.level == 0 then stop(); end\n'
         if isinstance(bumper, rosys.hardware.BumperHardware):
-            lizard_code += 'when ' + \
-                ' or '.join(f'{bumper.name}_{pin}.level == 1' for pin in bumper.pins) + \
-                f' then {wheels.name}.off(); end\n'
+             for name in bumper.pins:
+                lizard_code += f'bumper_{name}.level = 0\n'
+                lizard_code += f'when bumper_{name}.level == 1 then stop(); end\n'
 
         # implement stop call for "ground check" reference sensors
         if isinstance(y_axis, ChainAxisHardware):