feat<servos> revert back to old pyvesc build from docker

it turns out that the installation coded the current firmware of the vescs in pyvesc while installing it. I don't know how it would get the firmware of a connected USB before it even starts the pi to see what is connected to it. Instead of trying to adopt my solution to work with the new implementation of set Duty cycle, I decided to go back to the old solution. I tried to change and fetch the firmware from inside, but couldn't do it. I won't waste more time on it. Maybe i will return later for it

pilot/pilot/relay.py

@@ -111,7 +111,7 @@ def _config(self):
         [parser.read(_f) for _f in glob.glob(os.path.join(self._config_dir, "*.ini"))]
         config_data = {}
 
-        # Loop through all sections and store keys with section prefixes
+        # Loop through all sections and store keys
         for section in parser.sections():
             for key, value in parser.items(section):
                 config_data[f"{key}"] = value

raspi/ras/Dockerfile

@@ -16,7 +16,13 @@ RUN apt-get update && apt-get install -y \
 
 # Upgrade pip and install Python dependencies
 RUN pip install --upgrade pip setuptools wheel
-RUN pip install --no-cache-dir pymodbus pyusb pytest crccheck RPi.GPIO pyvesc numpy six pyzmq cython pythoncrc pyserial gpiozero
+RUN pip install --no-cache-dir pymodbus pyusb pytest crccheck RPi.GPIO  numpy six pyzmq cython pythoncrc pyserial gpiozero
+
+RUN git clone https://github.com/LiamBindle/PyVESC.git \
+  && cd PyVESC \
+  && sed -i 's/return f"{self.comm_fw_version}.{self.fw_version_major}.{self.fw_version_minor}"/return "{self.comm_fw_version}.{self.fw_version_major}.{self.fw_version_minor}"/' pyvesc/VESC/messages/getters.py \
+  && python3 setup.py build \
+  && python3 setup.py install
 
 # Copy application files
 COPY ./BYODR_utils/common/ /app/BYODR_utils/common/

raspi/ras/core.py

@@ -1,13 +1,13 @@
 import logging
+import math
 import threading
 
 import pyvesc
 import serial
-from gpiozero import DigitalInputDevice
-from pyvesc import GetValues, SetDutyCycle, SetRPM
-
 from BYODR_utils.common import timestamp
 from BYODR_utils.common.option import parse_option
+from gpiozero import DigitalInputDevice
+from pyvesc.VESC.messages import GetValues, SetDutyCycle, SetRPM
 
 logger = logging.getLogger(__name__)
 
@@ -173,7 +173,7 @@ def set_effort(self, value):
                     if self._rpm_drive:
                         self._ser.write(pyvesc.encode(SetRPM(int(value * 1e3))))
                     else:
-                        self._ser.write(pyvesc.encode(SetDutyCycle(int(value * 1e4))))
+                        self._ser.write(pyvesc.encode(SetDutyCycle(float(value * 1e-1))))
                 except serial.serialutil.SerialException:
                     self._close()
                     _operational = False

raspi/ras/servos.py

@@ -147,6 +147,8 @@ def __init__(self, config_file):
 
         self._setup_driver_configs()
         self.update_drive_instances(self.driver_config)
+
+
         self._relay.close()
 
     def _setup_driver_configs(self):
@@ -224,7 +226,7 @@ def velocity(self):
             return 0
 
     def drive(self, steering, throttle):
-        logger.info(throttle)
+
         _motor_scale = self._throttle_config.get("scale")
         # Scale down throttle for one wheel, the other retains its value.
         steering = min(1.0, max(-1.0, steering + self._steering_offset))