From 7ce34b4834d94464e5a88c413cca9db9b5bb35e1 Mon Sep 17 00:00:00 2001
From: Nicolas Hiillos <nicolashiillos@gmail.com>
Date: Fri, 28 Apr 2023 15:47:51 +0300
Subject: [PATCH] Update axidraw conf

---
 config.yaml                                     | 6 ++++--
 src/axidraw_controller/config/config.yaml       | 4 ++--
 src/axidraw_controller/src/py/axidraw_serial.py | 2 +-
 3 files changed, 7 insertions(+), 5 deletions(-)

diff --git a/config.yaml b/config.yaml
index f606670..0e21d5a 100644
--- a/config.yaml
+++ b/config.yaml
@@ -12,7 +12,11 @@
     lite6_max_velocity_scaling_factor: 1.0
     lite6_max_acceleration_scaling_factor: 0.9
 
+/axidraw_serial:
+  ros__parameters:
     axidraw_accel: 100
+    axidraw_speed_pendown: 50
+    axidraw_speed_penup: 50
     axidraw_const_speed: false
     axidraw_pen_delay_down: 0
     axidraw_pen_delay_up: 0
@@ -20,5 +24,3 @@
     axidraw_pen_pos_up: 60
     axidraw_pen_rate_lower: 50
     axidraw_pen_rate_raise: 75
-    axidraw_speed_pendown: 100
-    axidraw_speed_penup: 100
diff --git a/src/axidraw_controller/config/config.yaml b/src/axidraw_controller/config/config.yaml
index ae3c039..7c55748 100644
--- a/src/axidraw_controller/config/config.yaml
+++ b/src/axidraw_controller/config/config.yaml
@@ -8,5 +8,5 @@
     axidraw_pen_pos_up: 60
     axidraw_pen_rate_lower: 50
     axidraw_pen_rate_raise: 75
-    axidraw_speed_pendown: 100
-    axidraw_speed_penup: 100
+    axidraw_speed_pendown: 50
+    axidraw_speed_penup: 50
diff --git a/src/axidraw_controller/src/py/axidraw_serial.py b/src/axidraw_controller/src/py/axidraw_serial.py
index cad1ab1..4f50fee 100755
--- a/src/axidraw_controller/src/py/axidraw_serial.py
+++ b/src/axidraw_controller/src/py/axidraw_serial.py
@@ -65,7 +65,7 @@ class AxidrawSerial(Node):
         self.ad.options.speed_pendown = self.get_parameter('axidraw_speed_pendown').get_parameter_value().integer_value # Maximum XY speed when the pen is down (plotting).
         self.ad.options.speed_penup = self.get_parameter('axidraw_speed_penup').get_parameter_value().integer_value # Maximum XY speed when the pen is up.
         self.ad.options.accel = self.get_parameter('axidraw_accel').get_parameter_value().integer_value  # Relative acceleration/deceleration speed.
-        self.get_logger().error('accel:{}'.format(self.get_parameter('axidraw_accel').get_parameter_value().integer_value))
+        #self.get_logger().error('accel:{}'.format(self.get_parameter('axidraw_accel').get_parameter_value().integer_value))
         self.ad.options.pen_pos_down = self.get_parameter('axidraw_pen_pos_down').get_parameter_value().integer_value #Pen height when the pen is down (plotting).
         self.ad.options.pen_pos_up = self.get_parameter('axidraw_pen_pos_up').get_parameter_value().integer_value #Pen height when the pen is up.
         self.ad.options.pen_rate_lower = self.get_parameter('axidraw_pen_rate_lower').get_parameter_value().integer_value #  Speed of lowering the pen-lift motor.