ff fix

ArendJan · Nov 28, 2024 · 41a1167 · 41a1167
1 parent 88af5cf
commit 41a1167
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diff --git a/.github/workflows/ros-build.yml b/.github/workflows/ros-build.yml
@@ -7,10 +7,10 @@ permissions:
 jobs:
   build_testing:
     runs-on: self-hosted
-    fail-fast: false
     # container:
     #   image: ubuntu:22.04
     strategy:
+        fail-fast: false
         matrix:
                 ros_distro: [humble]
                 deb_distro: [jammy]

diff --git a/mirte_telemetrix_cpp/config/mirte_user_config.yaml b/mirte_telemetrix_cpp/config/mirte_user_config.yaml
@@ -7,94 +7,107 @@
         version: 0.8
         board: pico
         max_frequency: 50
-    distance:
-      left:
-        name: left
+    modules:
+      servo_controller:
         device: mirte
+        type: Hiwonder_Servo
         pins:
-          trigger: GP9
-          echo: GP8
-      right:
-        name: right
-        device: mirte
-        pins:
-          trigger: GP7
-          echo: GP6
+          rx: 0
+          tx: 1
+        servos:
+          servoH1:
+            id: 5
+            min_angle: 9000
+            max_angle: 14000
+            motor_mode: true
+    # distance:
+    #   left:
+    #     name: left
+    #     device: mirte
+    #     pins:
+    #       trigger: GP9
+    #       echo: GP8
+    #   right:
+    #     name: right
+    #     device: mirte
+    #     pins:
+    #       trigger: GP7
+    #       echo: GP6
 
-    intensity:
-      left:
-        name: left
-        device: mirte
-        pins:
-          analog: GP27
-          digital: GP17
-      right:
-        name: right
-        device: mirte
-        pins:
-          analog: GP26
-          digital: GP16
-    oled:
-      left:
-        name: left
-        device: mirte
-        pins:
-          sda: GP10
-          scl: GP11
-      right:
-        name: right
-        device: mirte
-        pins:
-          sda: GP4
-          scl: GP5
-    servo:
-      left:
-        name: left
-        device: mirte
-        pins:
-          pin: GP14
-      right:
-        name: right
-        device: mirte
-        pins:
-          pin: GP15
-      # These servo's have the same pins as the ObjectDetectors. So as
-      # soon as they are implemented, these should be commented out
-      gripper:
-        name: gripper
-        device: mirte
-        pins:
-          pin: GP12
-      arm:
-        name: arm
-        device: mirte
-        pins:
-          pin: GP13
-    keypad:
-      yellow:
-        name: yellow
-        device: mirte
-        pins:
-          pin: GP28
-    motor:
-      left:
-        name: left
-        device: mirte
-        type: pp
-        pins:
-          p1: GP18
-          p2: GP19
-      right:
-        name: right
-        device: mirte
-        type: pp
-        pins:
-          p1: GP20
-          p2: GP21
-    oled:
-      oled:
-        device: mirte
-        connector: I2C1
+    # intensity:
+    #   left:
+    #     name: left
+    #     device: mirte
+    #     pins:
+    #       analog: GP27
+    #       digital: GP17
+    #   right:
+    #     name: right
+    #     device: mirte
+    #     pins:
+    #       analog: GP26
+    #       digital: GP16
+    # oled:
+    #   left:
+    #     name: left
+    #     device: mirte
+    #     pins:
+    #       sda: GP10
+    #       scl: GP11
+    #   right:
+    #     name: right
+    #     device: mirte
+    #     pins:
+    #       sda: GP4
+    #       scl: GP5
+    # servo:
+    #   left:
+    #     name: left
+    #     device: mirte
+    #     pins:
+    #       pin: GP14
+    #   right:
+    #     name: right
+    #     device: mirte
+    #     pins:
+    #       pin: GP15
+    #   # These servo's have the same pins as the ObjectDetectors. So as
+    #   # soon as they are implemented, these should be commented out
+    #   gripper:
+    #     name: gripper
+    #     device: mirte
+    #     pins:
+    #       pin: GP12
+    #   arm:
+    #     name: arm
+    #     device: mirte
+    #     pins:
+    #       pin: GP13
+    # keypad:
+    #   yellow:
+    #     name: yellow
+    #     device: mirte
+    #     pins:
+    #       pin: GP28
+    # motor:
+    #   left:
+    #     name: left
+    #     device: mirte
+    #     type: pp
+    #     pins:
+    #       p1: GP18
+    #       p2: GP19
+    #   right:
+    #     name: right
+    #     device: mirte
+    #     type: pp
+    #     pins:
+    #       p1: GP20
+    #       p2: GP21
+    # oled:
+    #   oled:
+    #     device: mirte
+    #     connector: I2C1
     # encoder:
     #   left:
     #     name: left