tested the reading and I2C sending part, cleaned up a little bit

vortexntnu · Mar 3, 2024 · c905e47 · c905e47
1 parent da7a9cd
commit c905e47
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Showing 6 changed files with 6 additions and 233 deletions.
diff --git a/motion/oldfiles_deletelater/old_interface.cpp b/motion/oldfiles_deletelater/old_interface.cpp
diff --git a/motion/oldfiles_deletelater/old_node.cpp b/motion/oldfiles_deletelater/old_node.cpp
diff --git a/motion/oldfiles_deletelater/thruster_interface.hpp b/motion/oldfiles_deletelater/thruster_interface.hpp
diff --git a/motion/oldfiles_deletelater/thruster_interface_node.hpp b/motion/oldfiles_deletelater/thruster_interface_node.hpp
diff --git a/motion/thruster_interface/src/thruster_interface.cpp b/motion/thruster_interface/src/thruster_interface.cpp
@@ -1,8 +1,8 @@
 #include <thruster_interface/thruster_interface.hpp>
 
-const int I2C_ADDRESS = 0x21;
+//const int I2C_ADDRESS = 0x21;
 const char *I2C_DEVICE = "/dev/i2c-1";
-int8_t i2c_slave_addr = 0x21;
+int8_t i2c_slave_addr = 0x20;
 std::map<float, float> pwm_table;
 
 //--------------------------FUNCTIONS--------------------------

diff --git a/motion/thruster_interface/src/thruster_interface_node.cpp b/motion/thruster_interface/src/thruster_interface_node.cpp
@@ -44,10 +44,12 @@ class MinimalSubscriber : public rclcpp::Node {
     //----------------------------------------------------------
 
     int file;
-    if (started == false) {
+    /**if (started == false) {
       init(file);
       started = true;
-    }
+    }**/
+
+     init(file);
 
     // SENDING
     send_status(software_killswitch, file);