From 257bc9187251ebd12305f23515036ad1274b8612 Mon Sep 17 00:00:00 2001 From: Iori Yanokura Date: Fri, 12 Jan 2024 01:21:18 +0900 Subject: [PATCH 1/2] Ignore worm servo from flash --- rcb4/armh7interface.py | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/rcb4/armh7interface.py b/rcb4/armh7interface.py index b3b895bf..2189a75e 100644 --- a/rcb4/armh7interface.py +++ b/rcb4/armh7interface.py @@ -546,7 +546,9 @@ def search_worm_ids(self): for idx in range(max_sensor_num): worm = self.memory_cstruct(WormmoduleStruct, idx) if worm.module_type == 1: - indices.append(idx) + servo = self.memory_cstruct(ServoStruct, worm.servo_id) + if servo.rotation == 1: + indices.append(idx) self.worm_sorted_ids = indices return indices From 9e96a9f0a297fb7817ced1a7acce81eb47a9ac18 Mon Sep 17 00:00:00 2001 From: Iori Yanokura Date: Fri, 12 Jan 2024 02:08:44 +0900 Subject: [PATCH 2/2] Use github url for elf files --- rcb4/data/__init__.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/rcb4/data/__init__.py b/rcb4/data/__init__.py index fc16e0dd..bd5668bc 100644 --- a/rcb4/data/__init__.py +++ b/rcb4/data/__init__.py @@ -16,7 +16,7 @@ elf_infos = { 'v0.6.2': ELFINFO( - 'https://drive.google.com/uc?id=1quysoRGx92K0enHcBxITEAcUkZf2FCjk', # NOQA + 'https://github.com/iory/rcb4/releases/download/v0.6.2.elf/v0.6.2.elf', # NOQA '9205b34ce4d81b87c4f11e6139f96b17') }