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Fixed test for worm to move init pose. #25

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merged 1 commit into from
Jan 17, 2024
Merged

Fixed test for worm to move init pose. #25

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7 changes: 3 additions & 4 deletions rcb4/armh7interface.py
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Original file line number Diff line number Diff line change
Expand Up @@ -537,10 +537,9 @@ def free(self, servo_ids=None):
def neutral(self, servo_ids=None, velocity=1000):
if servo_ids is None:
servo_ids = self.servo_sorted_ids
servo_vector = [7500] * len(servo_ids)
return self.servo_angle_vector(servo_ids,
servo_vector,
velocity=velocity)
av = [0] * len(servo_ids)
return self.angle_vector(av, servo_ids,
velocity=velocity)

def servo_angle_vector(self, servo_ids, servo_vector, velocity=127):
"""Sends a command to control multiple servos.
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1 change: 1 addition & 0 deletions tests/rcb4_tests/test_armh7interface.py
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Expand Up @@ -43,6 +43,7 @@ def test_angle_vector_to_servo_angle_vector(self):
def test_angle_vector(self):
self.interface.hold()
self.interface.neutral()
time.sleep(4.0)
reference = [60, 30]
self.interface.angle_vector(
reference,
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