From 15e27b7435a54bfa247e0706554d28b742ad5284 Mon Sep 17 00:00:00 2001
From: wangWking <842749351@qq.com>
Date: Tue, 23 Jan 2024 18:35:39 +0800
Subject: [PATCH] update port

---
 Mercury/mercury_b1/scripts/follow_display.py   | 10 +++++-----
 Mercury/mercury_b1/scripts/slider_control.py   |  4 ++--
 Mercury/mercury_b1_moveit/scripts/sync_plan.py |  4 ++--
 3 files changed, 9 insertions(+), 9 deletions(-)

diff --git a/Mercury/mercury_b1/scripts/follow_display.py b/Mercury/mercury_b1/scripts/follow_display.py
index ca200e49..603ce1e7 100755
--- a/Mercury/mercury_b1/scripts/follow_display.py
+++ b/Mercury/mercury_b1/scripts/follow_display.py
@@ -14,8 +14,8 @@ def talker():
     rospy.init_node("display", anonymous=True)
 
     print("Try connect real Mercury...")
-    port1 = rospy.get_param("~port1", "/dev/ttyTHS1")
-    port2 = rospy.get_param("~port2", "/dev/ttyS0")
+    port1 = rospy.get_param("~port1", "/dev/ttyTHS0")
+    port2 = rospy.get_param("~port2", "/dev/ttyACM0")
     baud = rospy.get_param("~baud", 115200)
     print("left arm: {}, baud: {}\n".format(port1, baud))
     print("right arm: {}, baud: {}\n".format(port2, baud))
@@ -106,11 +106,11 @@ def talker():
             
             right_coords = r.get_coords()
             
-            eye_coords = r.get_angle(11)
+            eye_coords = [r.get_angle(11)]
             
-            head_coords = r.get_angle(12)
+            head_coords = [r.get_angle(12)]
             
-            body_coords = r.get_angle(13)
+            body_coords = [r.get_angle(13)]
             
             # marker
             marker_.header.stamp = rospy.Time.now()
diff --git a/Mercury/mercury_b1/scripts/slider_control.py b/Mercury/mercury_b1/scripts/slider_control.py
index 48fe1bc1..cbe27020 100755
--- a/Mercury/mercury_b1/scripts/slider_control.py
+++ b/Mercury/mercury_b1/scripts/slider_control.py
@@ -52,8 +52,8 @@ def listener():
     rospy.init_node("control_slider", anonymous=True)
 
     rospy.Subscriber("joint_states", JointState, callback)
-    port1 = rospy.get_param("~port1", "/dev/ttyTHS1")
-    port2 = rospy.get_param("~port2", "/dev/ttyS0")
+    port1 = rospy.get_param("~port1", "/dev/ttyTHS0")
+    port2 = rospy.get_param("~port2", "/dev/ttyACM0")
     baud = rospy.get_param("~baud", 115200)
     print('left arm: {}, {}'.format(port1, baud))
     print('right arm: {}, {}'.format(port2, baud))
diff --git a/Mercury/mercury_b1_moveit/scripts/sync_plan.py b/Mercury/mercury_b1_moveit/scripts/sync_plan.py
index 318542e0..3bf53ec5 100755
--- a/Mercury/mercury_b1_moveit/scripts/sync_plan.py
+++ b/Mercury/mercury_b1_moveit/scripts/sync_plan.py
@@ -52,8 +52,8 @@ def listener():
     rospy.init_node("control_slider", anonymous=True)
 
     rospy.Subscriber("joint_states", JointState, callback)
-    port1 = rospy.get_param("~port1", "/dev/ttyTHS1")
-    port2 = rospy.get_param("~port2", "/dev/ttyS0")
+    port1 = rospy.get_param("~port1", "/dev/ttyTHS0")
+    port2 = rospy.get_param("~port2", "/dev/ttyACM0")
     baud = rospy.get_param("~baud", 115200)
     print('left arm: {}, {}'.format(port1, baud))
     print('right arm: {}, {}'.format(port2, baud))