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Add lizard level fix for U4 #236

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merged 1 commit into from
Nov 20, 2024
Merged

Add lizard level fix for U4 #236

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7 changes: 7 additions & 0 deletions field_friend/hardware/y_axis_stepper_hardware.py
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Original file line number Diff line number Diff line change
Expand Up @@ -39,6 +39,13 @@ def __init__(self, robot_brain: rosys.hardware.RobotBrain, *,
{name}_end_l.inverted = {str(end_stops_inverted).lower()}
{name}_end_r = {expander.name + "." if end_stops_on_expander and expander else ""}Input({end_r_pin})
{name}_end_r.inverted = {str(end_stops_inverted).lower()}
# TODO: remove when lizard issue 66 is fixed.
{name}_alarm.level = 0
{name}_alarm.active = false
{name}_end_l.level = 0
{name}_end_l.active = false
{name}_end_r.level = 0
{name}_end_r.active = false
{name} = {expander.name + "." if motor_on_expander and expander else ""}MotorAxis({name}_motor, {name + "_end_l" if reversed_direction else name + "_end_r"}, {name + "_end_r" if reversed_direction else name + "_end_l"})
''')
core_message_fields = [
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5 changes: 2 additions & 3 deletions field_friend/hardware/z_axis_canopen_hardware.py
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Original file line number Diff line number Diff line change
Expand Up @@ -33,12 +33,11 @@ def __init__(self, robot_brain: rosys.hardware.RobotBrain, *,
{name}_motor = {expander.name + "." if motor_on_expander and expander else ""}CanOpenMotor({can.name}, {can_address})
{name}_end_t = {expander.name + "." if end_stops_on_expander and expander else ""}Input({end_t_pin})
{name}_end_t.inverted = {str(end_stops_inverted).lower()}
# TODO: remove when lizard issue 66 is fixed.
{name}_end_b.level = 0
{name}_end_t.active = false
{name}_end_b = {expander.name + "." if end_stops_on_expander and expander else ""}Input({end_b_pin})
{name}_end_b.inverted = {str(end_stops_inverted).lower()}
# TODO: remove when lizard issue 66 is fixed.
{name}_end_t.level = 0
{name}_end_t.active = false
{name}_end_b.level = 0
{name}_end_b.active = false
{name} = {expander.name + "." if motor_on_expander and expander else ""}MotorAxis({name}_motor, {name + "_end_t" if reversed_direction else name + "_end_b"}, {name + "_end_b" if reversed_direction else name + "_end_t"})
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5 changes: 5 additions & 0 deletions field_friend/hardware/z_axis_stepper_hardware.py
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Original file line number Diff line number Diff line change
Expand Up @@ -38,6 +38,11 @@ def __init__(self, robot_brain: rosys.hardware.RobotBrain, *,
{name}_end_t.inverted = {str(end_stops_inverted).lower()}
{name}_end_b = {expander.name + "." if end_stops_on_expander and expander else ""}Input({end_b_pin})
{name}_end_b.inverted = {str(end_stops_inverted).lower()}
# TODO: remove when lizard issue 66 is fixed.
{name}_end_t.level = 0
{name}_end_t.active = false
{name}_end_b.level = 0
{name}_end_b.active = false
{name} = {expander.name + "." if motor_on_expander and expander else ""}MotorAxis({name}_motor, {name + "_end_t" if reversed_direction else name + "_end_b"}, {name + "_end_b" if reversed_direction else name + "_end_t"})
''')
core_message_fields = [
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