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Remove external_mower from field_friend #271

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Remove external_mower from field_friend #271

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84464cd
Remove mower from field_friend
pascalzauberzeug Jan 30, 2025
ad721c3
Remove unused imports
pascalzauberzeug Jan 30, 2025
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2 changes: 0 additions & 2 deletions field_friend/automations/implements/__init__.py
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Original file line number Diff line number Diff line change
@@ -1,12 +1,10 @@
from .external_mower import ExternalMower
from .implement import Implement
from .recorder import Recorder
from .tornado import Tornado
from .weeding_implement import ImplementException, WeedingImplement
from .weeding_screw import WeedingScrew

__all__ = [
'ExternalMower',
'Implement',
'ImplementException',
'Recorder',
Expand Down
74 changes: 0 additions & 74 deletions field_friend/automations/implements/external_mower.py
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4 changes: 0 additions & 4 deletions field_friend/hardware/__init__.py
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Original file line number Diff line number Diff line change
@@ -1,7 +1,6 @@
from .axis import Axis
from .chain_axis import ChainAxis
from .double_wheels import DoubleWheelsHardware
from .external_mower import Mower, MowerHardware, MowerSimulation
from .field_friend import FieldFriend
from .field_friend_hardware import FieldFriendHardware
from .field_friend_simulation import FieldFriendSimulation
Expand All @@ -26,9 +25,6 @@
'FlashlightPWMSimulation',
'FlashlightPWMV2',
'FlashlightV2',
'Mower',
'MowerHardware',
'MowerSimulation',
'TeltonikaRouter',
'Tornado',
'TornadoHardware',
Expand Down
130 changes: 0 additions & 130 deletions field_friend/hardware/external_mower.py
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3 changes: 0 additions & 3 deletions field_friend/hardware/field_friend.py
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,6 @@

from .axis import Axis
from .chain_axis import ChainAxis
from .external_mower import Mower
from .flashlight import Flashlight
from .flashlight_pwm import FlashlightPWM
from .flashlight_v2 import FlashlightV2
Expand Down Expand Up @@ -32,7 +31,6 @@ def __init__(
flashlight: Flashlight | FlashlightV2 | FlashlightPWM | None,
y_axis: Axis | ChainAxis | None,
z_axis: Axis | Tornado | None,
mower: Mower | None,
imu: rosys.hardware.Imu | None,
estop: rosys.hardware.EStop,
bumper: rosys.hardware.Bumper | None,
Expand All @@ -45,7 +43,6 @@ def __init__(
self.flashlight = flashlight
self.y_axis = y_axis
self.z_axis = z_axis
self.mower = mower
self.imu = imu
self.estop = estop
self.bumper = bumper
Expand Down
28 changes: 2 additions & 26 deletions field_friend/hardware/field_friend_hardware.py
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Original file line number Diff line number Diff line change
Expand Up @@ -8,7 +8,6 @@
from .can_open_master import CanOpenMasterHardware
from .chain_axis import ChainAxisHardware
from .double_wheels import DoubleWheelsHardware
from .external_mower import MowerHardware
from .field_friend import FieldFriend
from .flashlight import FlashlightHardware
from .flashlight_pwm import FlashlightPWMHardware
Expand Down Expand Up @@ -51,9 +50,6 @@ def __init__(self) -> None:
self.WORK_X = config_params['work_x_drill']
self.DRILL_RADIUS = config_params['drill_radius']
self.CHOP_RADIUS: float = config_params['chop_radius']
elif implement in ['mower']: # front mower for trees
self.WORK_X = 0.0
self.DRILL_RADIUS = 0.0
else:
raise NotImplementedError(f'Unknown FieldFriend implement: {implement}')

Expand Down Expand Up @@ -304,25 +300,6 @@ def __init__(self) -> None:
else:
raise NotImplementedError(f'Unknown z_axis version: {config_hardware["z_axis"]["version"]}')

mower: MowerHardware | None
if 'external_mower' in config_hardware:
mower = MowerHardware(robot_brain=robot_brain,
can=can,
name=config_hardware['external_mower']['name'],
m0_can_address=config_hardware['external_mower']['m0_can_address'],
m1_can_address=config_hardware['external_mower']['m1_can_address'],
m2_can_address=config_hardware['external_mower']['m2_can_address'],
m_per_tick=self.M_PER_TICK,
speed=config_hardware['external_mower']['speed'],
is_m0_reversed=config_hardware['external_mower']['is_m0_reversed'],
is_m1_reversed=config_hardware['external_mower']['is_m1_reversed'],
is_m2_reversed=config_hardware['external_mower']['is_m2_reversed'],
odrive_version=config_hardware['external_mower'][
'odrive_version'] if 'odrive_version' in config_hardware['external_mower'] else 4,
)
else:
mower = None

estop = rosys.hardware.EStopHardware(robot_brain,
name=config_hardware['estop']['name'],
pins=config_hardware['estop']['pins'],
Expand Down Expand Up @@ -422,10 +399,10 @@ def __init__(self) -> None:
self.status_control = None

safety: SafetyHardware = SafetyHardware(robot_brain, estop=estop, wheels=wheels, bumper=bumper,
y_axis=y_axis, z_axis=z_axis, flashlight=flashlight, mower=mower)
y_axis=y_axis, z_axis=z_axis, flashlight=flashlight)

modules = [bluetooth, can, wheels, serial, expander, can_open_master, y_axis,
z_axis, mower, flashlight, bms, estop, self.battery_control, bumper, imu, eyes, self.status_control, safety]
z_axis, flashlight, bms, estop, self.battery_control, bumper, imu, eyes, self.status_control, safety]
active_modules = [module for module in modules if module is not None]
super().__init__(implement_name=implement,
wheels=wheels,
Expand All @@ -436,7 +413,6 @@ def __init__(self) -> None:
bms=bms,
safety=safety,
flashlight=flashlight,
mower=mower,
imu=imu,
modules=active_modules,
robot_brain=robot_brain)
Expand Down
16 changes: 2 additions & 14 deletions field_friend/hardware/field_friend_simulation.py
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Original file line number Diff line number Diff line change
Expand Up @@ -7,7 +7,6 @@

from .axis import AxisSimulation
from .chain_axis import ChainAxisSimulation
from .external_mower import MowerSimulation
from .field_friend import FieldFriend
from .flashlight import FlashlightSimulation
from .flashlight_pwm_v2 import FlashlightPWMSimulationV2
Expand Down Expand Up @@ -38,9 +37,6 @@ def __init__(self, robot_id) -> None:
self.WORK_X = config_params['work_x_drill']
self.DRILL_RADIUS = config_params['drill_radius']
self.CHOP_RADIUS = config_params['chop_radius']
elif tool in ['mower']:
self.WORK_X: float = 0.0
self.DRILL_RADIUS: float = 0.0
else:
raise NotImplementedError(f'Unknown FieldFriend tool: {tool}')
wheels = rosys.hardware.WheelsSimulation(self.WHEEL_DISTANCE)
Expand Down Expand Up @@ -77,12 +73,6 @@ def __init__(self, robot_id) -> None:
else:
raise NotImplementedError(f'Unknown Z-Axis version: {config_hardware["z_axis"]["version"]}')

mower: MowerSimulation | None
if 'external_mower' in config_hardware:
mower = MowerSimulation()
else:
mower = None

flashlight: FlashlightSimulation | FlashlightSimulationV2 | FlashlightPWMSimulationV2 | None
if config_hardware['flashlight']['version'] == 'flashlight':
flashlight = FlashlightSimulation()
Expand All @@ -107,16 +97,14 @@ def __init__(self, robot_id) -> None:

imu = ImuSimulation(wheels=wheels, roll_noise=0.0, pitch_noise=0.0, yaw_noise=0.0)
bms = rosys.hardware.BmsSimulation()
safety = SafetySimulation(wheels=wheels, estop=estop, y_axis=y_axis,
z_axis=z_axis, flashlight=flashlight, mower=mower)
modules = [wheels, y_axis, z_axis, flashlight, bumper, imu, bms, estop, safety, mower]
safety = SafetySimulation(wheels=wheels, estop=estop, y_axis=y_axis, z_axis=z_axis, flashlight=flashlight)
modules = [wheels, y_axis, z_axis, flashlight, bumper, imu, bms, estop, safety]
active_modules = [module for module in modules if module is not None]
super().__init__(implement_name=tool,
wheels=wheels,
flashlight=flashlight,
y_axis=y_axis,
z_axis=z_axis,
mower=mower,
estop=estop,
bumper=bumper,
imu=imu,
Expand Down
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