From 1ea005d398bed2c5a837c3365657afd2fac35455 Mon Sep 17 00:00:00 2001
From: "LAPTOP-HS5NB06S\\29019" <290198252@qq.com>
Date: Tue, 16 Jun 2020 11:12:47 +0800
Subject: [PATCH] no message

---
 arduino/arduino/moveo_moveit/move_moveit/move_moveit.ino | 9 ++++++---
 1 file changed, 6 insertions(+), 3 deletions(-)

diff --git a/arduino/arduino/moveo_moveit/move_moveit/move_moveit.ino b/arduino/arduino/moveo_moveit/move_moveit/move_moveit.ino
index 7519372..ae025b8 100644
--- a/arduino/arduino/moveo_moveit/move_moveit/move_moveit.ino
+++ b/arduino/arduino/moveo_moveit/move_moveit/move_moveit.ino
@@ -28,6 +28,7 @@
 #include <AccelStepper.h>
 #include <MultiStepper.h>
 
+
 // Joint 1
 #define E1_STEP_PIN   53
 #define E1_DIR_PIN   51
@@ -58,6 +59,8 @@
 #define E0_ENABLE_PIN 24
 
 
+// EG X-Y position bed driven by 2 steppers
+// Alas its not possible to build an array of these with different pins for each :-(
 AccelStepper joint1(1,E1_STEP_PIN, E1_DIR_PIN);
 AccelStepper joint2(1,Z_STEP_PIN, Z_DIR_PIN);
 AccelStepper joint3(1,Y_STEP_PIN, Y_DIR_PIN);
@@ -74,7 +77,7 @@ ros::NodeHandle nh;
 std_msgs::Int16 msg;
 
 //instantiate publisher (for debugging purposes)
-//ros::Publisher steps("joint_steps_feedback",&msg);
+ros::Publisher steps("joint_steps_feedback",&msg);
 
 void arm_cb(const moveo_moveit::ArmJointState& arm_steps){
   joint_status = 1;
@@ -138,8 +141,8 @@ void loop() {
     positions[4] = -joint_step[4]; 
 
     // Publish back to ros to check if everything's correct
-    //msg.data=positions[4];
-    //steps.publish(&msg);
+    msg.data=positions[4];
+    steps.publish(&msg);
 
     steppers.moveTo(positions);
     nh.spinOnce();