From f7c39f7f7fe95f732743ff9e009c152a73f124e2 Mon Sep 17 00:00:00 2001 From: Isopod00 Date: Wed, 23 Oct 2024 10:28:09 -0500 Subject: [PATCH] Auto Formatting --- src/digger/digger/digger_node.py | 4 ++-- src/rovr_control/rovr_control/auto_dig_server.py | 6 ++++-- src/rovr_control/rovr_control/auto_offload_server.py | 3 --- 3 files changed, 6 insertions(+), 7 deletions(-) diff --git a/src/digger/digger/digger_node.py b/src/digger/digger/digger_node.py index 289ee829..7914ce23 100644 --- a/src/digger/digger/digger_node.py +++ b/src/digger/digger/digger_node.py @@ -151,7 +151,7 @@ def toggle_callback(self, request, response): def set_position_callback(self, request, response): """This service request sets the position of the lift.""" self.set_position(request.position) - #^ this should already wait due to vesc set position not returning until done + # ^ this should already wait due to vesc set position not returning until done response.success = 0 # indicates success return response @@ -183,7 +183,7 @@ def lower_lift_callback(self, request, response): response.success = 0 # indicates success return response -#No more timer callback because setPos works + # No more timer callback because setPos works # Define subscriber callback methods here def limit_switch_callback(self, limit_switches_msg): diff --git a/src/rovr_control/rovr_control/auto_dig_server.py b/src/rovr_control/rovr_control/auto_dig_server.py index df4aee6b..7f6edb0b 100644 --- a/src/rovr_control/rovr_control/auto_dig_server.py +++ b/src/rovr_control/rovr_control/auto_dig_server.py @@ -76,13 +76,15 @@ async def execute_callback(self, goal_handle: ServerGoalHandle): await self.cli_lift_lower.call_async(Stop.Reqest()) self.get_logger().info("Start of Auto Digging in Place") - await sleep(3) #Stay at lowest pos for 3 seconds while digging + await sleep(3) # Stay at lowest pos for 3 seconds while digging self.get_logger().info("Done Digging in Place") # Stop skimming await self.cli_digger_stop.call_async(Stop.Request()) - await self.cli_lift_setPosition.call_async(SetPosition.Request(position=goal_handle.request.lift_dumping_position)) + await self.cli_lift_setPosition.call_async( + SetPosition.Request(position=goal_handle.request.lift_dumping_position) + ) # raise lift to dumping position # Wait for the lift goal to be reached diff --git a/src/rovr_control/rovr_control/auto_offload_server.py b/src/rovr_control/rovr_control/auto_offload_server.py index 2e13cb5c..ab30e0bc 100644 --- a/src/rovr_control/rovr_control/auto_offload_server.py +++ b/src/rovr_control/rovr_control/auto_offload_server.py @@ -19,11 +19,9 @@ def __init__(self): cancel_callback=self.cancel_callback, ) - self.cli_dumper_stop = self.create_client(Stop, "dumper/stop") self.cli_dumper_dump = self.create_client(Stop, "dumper/dump") - async def execute_callback(self, goal_handle: ServerGoalHandle): """This method lays out the procedure for autonomously offloading!""" self.get_logger().info("Starting Autonomous Offload Procedure!") @@ -39,7 +37,6 @@ async def execute_callback(self, goal_handle: ServerGoalHandle): goal_handle.abort() return result - await self.cli_dumper_dump.call_async(Stop.Request()) # Dump Berm await self.cli_dumper_stop.call_async(Stop.Request()) # Stop the dumper system