From 161c9be99e95743b2803fc2ef44976bb4e38b900 Mon Sep 17 00:00:00 2001
From: hdjwis <adarshyraju@gmail.com>
Date: Wed, 25 Feb 2026 00:44:14 +0000
Subject: [PATCH 1/6] added push motor limit switch

---
 arduino/sensors/sensors.ino                  | 19 +++++++++----------
 config/auger_config.yaml                     |  1 +
 src/auger/auger/auger_node.py                | 10 ++++++++--
 src/rovr_control/rovr_control/read_serial.py | 16 +++++++++++-----
 4 files changed, 29 insertions(+), 17 deletions(-)

diff --git a/arduino/sensors/sensors.ino b/arduino/sensors/sensors.ino
index dc9ac952..705fd153 100644
--- a/arduino/sensors/sensors.ino
+++ b/arduino/sensors/sensors.ino
@@ -1,14 +1,14 @@
 // Define a struct to hold the sensor data
 struct SensorData {
-  int leftMotorPotentiometer;
-  int rightMotorPotentiometer;
-  bool bottomLimitSwitch;
+  int tiltPotentiometer;
+  bool dumpLimitSwitch;
+  bool extensionLimitSwitch;
 };
 
 // Define the sensor pins here
-#define LEFT_MOTOR_POT_PIN A0
-#define RIGHT_MOTOR_POT_PIN A1
-#define RELAY_PIN 7
+#define TILT_POTENTIOMETER A0
+#define DUMP_LIMIT_SWITCH A1
+#define EXTENSION_LIMIT_SWITCH 7
 
 void setup() {
   // Initialize serial communication
@@ -26,10 +26,9 @@ void loop() {
   SensorData data;
 
   // Read from the analog inputs (potentiometers)
-  data.leftMotorPotentiometer = analogRead(LEFT_MOTOR_POT_PIN);  // Read left motor potentiometer value
-  data.rightMotorPotentiometer = analogRead(RIGHT_MOTOR_POT_PIN); // Read right motor potentiometer value
-
-  data.bottomLimitSwitch  = analogRead(bottom_limit_switch); //bottom limit switch value
+  data.tiltPotentiometer = analogRead(TILT_POTENTIOMETER);  // Read left motor potentiometer value
+  data.dumpLimitSwitch = analogRead(DUMP_LIMIT_SWITCH); // Read right motor potentiometer value
+  data.extensionLimitSwitch  = analogRead(EXTENSION_LIMIT_SWITCH); //bottom limit switch value
 
   // Send the struct over the serial bus to the Nvidia Jetson
   Serial.write((byte *)&data, sizeof(SensorData));
diff --git a/config/auger_config.yaml b/config/auger_config.yaml
index 5d2a7153..abd1036f 100644
--- a/config/auger_config.yaml
+++ b/config/auger_config.yaml
@@ -9,6 +9,7 @@
     MAX_EXTEND_PUSH_MOTOR_VELOCITY: 600 # in RPM
     push_motor_position: 0
     tilt_actuator_position: 0
+    extension_limit_switch: true
     TILT_ACTUATOR_CURRENT_THRESHOLD: 0
     MAX_PUSH_MOTOR_POSITION: 0
     MIN_PUSH_MOTOR_POSITION: 0
diff --git a/src/auger/auger/auger_node.py b/src/auger/auger/auger_node.py
index d91f98c2..f726912d 100644
--- a/src/auger/auger/auger_node.py
+++ b/src/auger/auger/auger_node.py
@@ -80,6 +80,7 @@ def __init__(self):
         self.MAX_SPIN_MOTOR_CURRENT = self.get_parameter("MAX_SPIN_MOTOR_CURRENT").value
         self.push_motor_position = self.get_parameter("push_motor_position").value
         self.tilt_actuator_position = self.get_parameter("tilt_actuator_position").value
+        self.extension_limit_switch = self.get_parameter("extension_limit_switch").value
         self.TILT_ACTUATOR_CURRENT_THRESHOLD = self.get_parameter(
             "TILT_ACTUATOR_CURRENT_THRESHOLD"
         )
@@ -197,6 +198,9 @@ def __init__(self):
             Potentiometers, "potentiometer", self.push_motor_position_callback, 10
         )
 
+        self.limit_switch_sub = self.create_subscription(
+            Bool, "ExtensionLimitSwitch", self.limit_switch_callback, 10
+        )
         # TODO Define publishers here
 
     # Define subsystem methods here
@@ -354,8 +358,7 @@ def set_motor_push_position(
             if motor_get_pos_future.result().success:
                 current_pos = motor_get_pos_future.result().data
                 if (speed <= 0 and current_pos <= desired_position) or (
-                    speed > 0 and current_pos >= desired_position
-                ):
+                    speed > 0 and current_pos >= desired_position) or (self.extension_limit_switch):
                     break
             else:
                 self.get_logger().warn("WARNING: Failed to read push motor position")
@@ -526,6 +529,9 @@ def stop_spin_callback(self, request, response):
     def push_motor_position_callback(self, msg):
         self.tilt_actuator_position = msg.data
 
+    def limit_switch_callback(self, msg):
+        
+
     def extend_push_callback(self, request, response):
         """
         This service requests to extend the push motor at full speed.
diff --git a/src/rovr_control/rovr_control/read_serial.py b/src/rovr_control/rovr_control/read_serial.py
index 1d5e83fe..64f7f335 100644
--- a/src/rovr_control/rovr_control/read_serial.py
+++ b/src/rovr_control/rovr_control/read_serial.py
@@ -13,7 +13,8 @@ def __init__(self):
         super().__init__("read_serial")
 
         self.potentiometerPub = self.create_publisher(Int16, "potentiometer", 10)
-        self.LimitSwitchPub = self.create_publisher(Bool, "DumperLimitSwitch", 10)
+        self.DumperLimitSwitchPub = self.create_publisher(Bool, "DumperLimitSwitch", 10)
+        self.ExtensionLimitSwitchPub = self.create_publisher(Bool, "ExtensionLimitSwitch", 10)
 
         # Services to control the relay-driven agitator motor
         self.srv_bigonoff = self.create_service(
@@ -52,15 +53,20 @@ def timer_callback(self):
             return
         data = self.arduino.read(4)  # Pause until 4 bytes are read
         # Use h for integers and ? for booleans
-        decoded = struct.unpack("h?", data)
+        decoded = struct.unpack("h??", data)
 
         potentiometer_msg = Int16()
         potentiometer_msg.data = decoded[0]
         self.potentiometerPub.publish(potentiometer_msg)
 
-        bool_msg = Bool()
-        bool_msg.data = decoded[1]
-        self.LimitSwitchPub.publish(bool_msg)
+        dumper_bool_msg = Bool()
+        dumper_bool_msg.data = decoded[1]
+        self.DumperLimitSwitchPub.publish(dumper_bool_msg)
+
+        extension_bool_msg = Bool()
+        extension_bool_msg.data = decoded[2]
+        self.ExtensionLimitSwitchPub.publish(extension_bool_msg)
+
 
     def big_on_off_callback(self, request, response):
         # request.data == True  → ON, False → OFF

From c974f96ba1e3d89a0b48950c90c1e0407e8a52c7 Mon Sep 17 00:00:00 2001
From: hdjwis <adarshyraju@gmail.com>
Date: Wed, 25 Feb 2026 01:15:41 +0000
Subject: [PATCH 2/6] added auger stowed check in dumper

---
 config/auger_config.yaml         |  1 +
 src/auger/auger/auger_node.py    | 22 ++++++++++++++++++++--
 src/dumper/dumper/dumper_node.py | 21 ++++++++++++++-------
 3 files changed, 35 insertions(+), 9 deletions(-)

diff --git a/config/auger_config.yaml b/config/auger_config.yaml
index abd1036f..071e1ad6 100644
--- a/config/auger_config.yaml
+++ b/config/auger_config.yaml
@@ -10,6 +10,7 @@
     push_motor_position: 0
     tilt_actuator_position: 0
     extension_limit_switch: true
+    STOWED: true
     TILT_ACTUATOR_CURRENT_THRESHOLD: 0
     MAX_PUSH_MOTOR_POSITION: 0
     MIN_PUSH_MOTOR_POSITION: 0
diff --git a/src/auger/auger/auger_node.py b/src/auger/auger/auger_node.py
index f726912d..cea0598a 100644
--- a/src/auger/auger/auger_node.py
+++ b/src/auger/auger/auger_node.py
@@ -37,6 +37,8 @@ def __init__(self):
         self.cli_motor_get = self.create_client(MotorCommandGet, "motor/get")
 
         # Define parameters here
+        self.declare_parameter("STOWED", True)
+        self.declare_parameter("extension_limit_switch", True)
         self.declare_parameter("POWER_LIMIT", 1)
         self.declare_parameter("SCREW_SPEED", 4000)
         self.declare_parameter(
@@ -81,6 +83,7 @@ def __init__(self):
         self.push_motor_position = self.get_parameter("push_motor_position").value
         self.tilt_actuator_position = self.get_parameter("tilt_actuator_position").value
         self.extension_limit_switch = self.get_parameter("extension_limit_switch").value
+        self.stowed = self.get_parameter("STOWED").value
         self.TILT_ACTUATOR_CURRENT_THRESHOLD = self.get_parameter(
             "TILT_ACTUATOR_CURRENT_THRESHOLD"
         )
@@ -199,9 +202,12 @@ def __init__(self):
         )
 
         self.limit_switch_sub = self.create_subscription(
-            Bool, "ExtensionLimitSwitch", self.limit_switch_callback, 10
+            Bool, "ExtensionLimitSwitch", 10
         )
         # TODO Define publishers here
+        self.stowed_pub = self.create_publisher(
+            Bool, "stowed", self.stowed_callback, 10
+        )
 
     # Define subsystem methods here
 
@@ -247,6 +253,12 @@ def set_actuator_tilt_extension(self, tilt: bool) -> bool:
 
         # gets motor current until it is 0 which means it has hit an limit
         # switch
+        if tilt:
+            self.stowed = False
+            msg = Bool()
+            msg.data = self.stowed
+            self.stowed_pub.publish(msg)
+
         while True:
             motor_get_future = self.cli_motor_get.call_async(
                 MotorCommandGet.Request(
@@ -267,6 +279,12 @@ def set_actuator_tilt_extension(self, tilt: bool) -> bool:
 
             time.sleep(0.1)
 
+        if not tilt:
+            self.stowed = True
+            msg = Bool()
+            msg.data = self.stowed
+            self.stowed_pub.publish(msg)
+
         return True
 
     def stop_actuator_tilt(self) -> bool:
@@ -530,7 +548,7 @@ def push_motor_position_callback(self, msg):
         self.tilt_actuator_position = msg.data
 
     def limit_switch_callback(self, msg):
-        
+        self.extension_limit_switch = msg.data
 
     def extend_push_callback(self, request, response):
         """
diff --git a/src/dumper/dumper/dumper_node.py b/src/dumper/dumper/dumper_node.py
index 48aa0470..1978c247 100644
--- a/src/dumper/dumper/dumper_node.py
+++ b/src/dumper/dumper/dumper_node.py
@@ -77,8 +77,12 @@ def __init__(self):
         self.KillSwitch_sub = self.create_subscription(
             Bool, "DumperLimitSwitch", self.killSwitch_callback, 10
         )
+        
+        self.auger_stowed_sub = self.create_subscription(
+            Bool, "stowed", self.auger_stowed_callback, 10
+        )
         self.limitSwitchBottom = False
-        # self.auger_stowed = True
+        self.auger_stowed = True
 
     # Define subsystem methods here
     def set_power(self, dumper_power: float) -> None:
@@ -124,9 +128,9 @@ def toggle_callback(self, request, response):
         return response
 
     def dump_dumper(self) -> None:
-        # if not self.auger_stowed:
-        #     self.get_logger().info("The auger is already extended")
-        #     return
+        if not self.auger_stowed:
+            self.get_logger().info("The auger is already extended")
+            return
 
         self.get_logger().info("Extending the dumper")
         self.dumped_state = True
@@ -152,9 +156,9 @@ def dump_callback(self, request, response):
         return response
 
     def store_dumper(self) -> None:  # get the variables
-        # if not self.auger_stowed:
-        #     self.get_logger().info("The Auger is already extended")
-        #     return
+        if not self.auger_stowed:
+            self.get_logger().info("The Auger is already extended")
+            return
         self.get_logger().info("Retracting the dumper")
         self.dumped_state = False
         self.long_service_running = True
@@ -184,6 +188,9 @@ def dumper_current_callback(self, msg):
     def killSwitch_callback(self, msg):
         # position control...
         self.LimitSwitchBottom = msg.data
+    
+    def auger_stowed_callback(self, msg):
+        self.auger_stowed = msg.data
 
 
 def main(args=None):

From 51f6ca99cffce322e99d7d18d7a0b00a540ea44d Mon Sep 17 00:00:00 2001
From: hdjwis <adarshyraju@gmail.com>
Date: Wed, 25 Feb 2026 01:33:51 +0000
Subject: [PATCH 3/6] added check for dumper stowed in auger node

---
 src/auger/auger/auger_node.py    | 38 +++++++++++++++++++++++---------
 src/dumper/dumper/dumper_node.py | 19 ++++++++++++----
 2 files changed, 42 insertions(+), 15 deletions(-)

diff --git a/src/auger/auger/auger_node.py b/src/auger/auger/auger_node.py
index cea0598a..134bdf0a 100644
--- a/src/auger/auger/auger_node.py
+++ b/src/auger/auger/auger_node.py
@@ -37,7 +37,8 @@ def __init__(self):
         self.cli_motor_get = self.create_client(MotorCommandGet, "motor/get")
 
         # Define parameters here
-        self.declare_parameter("STOWED", True)
+        self.declare_parameter("AUGER_STOWED", True)
+        self.declare_parameter("DUMPER_STOWED", True)
         self.declare_parameter("extension_limit_switch", True)
         self.declare_parameter("POWER_LIMIT", 1)
         self.declare_parameter("SCREW_SPEED", 4000)
@@ -83,7 +84,8 @@ def __init__(self):
         self.push_motor_position = self.get_parameter("push_motor_position").value
         self.tilt_actuator_position = self.get_parameter("tilt_actuator_position").value
         self.extension_limit_switch = self.get_parameter("extension_limit_switch").value
-        self.stowed = self.get_parameter("STOWED").value
+        self.auger_stowed = self.get_parameter("AUGER_STOWED").value
+        self.dumper_stowed = self.get_parameter("DUMPER_STOWED").value
         self.TILT_ACTUATOR_CURRENT_THRESHOLD = self.get_parameter(
             "TILT_ACTUATOR_CURRENT_THRESHOLD"
         )
@@ -202,13 +204,22 @@ def __init__(self):
         )
 
         self.limit_switch_sub = self.create_subscription(
-            Bool, "ExtensionLimitSwitch", 10
+            Bool, "ExtensionLimitSwitch", self.limit_switch_callback, 10
         )
+
+        self.dumper_stowed_sub = self.create_subscription(
+            Bool, "dumper_stowed", self.dumper_stowed_callback, 10
+        )
+
         # TODO Define publishers here
-        self.stowed_pub = self.create_publisher(
-            Bool, "stowed", self.stowed_callback, 10
+        self.auger_stowed_pub = self.create_publisher(
+            Bool, "auger_stowed", 10
         )
 
+        
+
+        
+
     # Define subsystem methods here
 
     def set_actuator_tilt_extension(self, tilt: bool) -> bool:
@@ -254,10 +265,10 @@ def set_actuator_tilt_extension(self, tilt: bool) -> bool:
         # gets motor current until it is 0 which means it has hit an limit
         # switch
         if tilt:
-            self.stowed = False
+            self.auger_stowed = False
             msg = Bool()
-            msg.data = self.stowed
-            self.stowed_pub.publish(msg)
+            msg.data = self.auger_stowed
+            self.auger_stowed_pub.publish(msg)
 
         while True:
             motor_get_future = self.cli_motor_get.call_async(
@@ -280,10 +291,10 @@ def set_actuator_tilt_extension(self, tilt: bool) -> bool:
             time.sleep(0.1)
 
         if not tilt:
-            self.stowed = True
+            self.auger_stowed = True
             msg = Bool()
-            msg.data = self.stowed
-            self.stowed_pub.publish(msg)
+            msg.data = self.auger_stowed
+            self.auger_stowed_pub.publish(msg)
 
         return True
 
@@ -466,6 +477,8 @@ def stop_auger_spin(self) -> bool:
 
     def extend_digger(self) -> bool:
         """Tilt and extend"""
+        if not self.dumper_stowed:
+            return False
 
         tilt_success = self.set_actuator_tilt_extension(True)
         if not tilt_success:
@@ -550,6 +563,9 @@ def push_motor_position_callback(self, msg):
     def limit_switch_callback(self, msg):
         self.extension_limit_switch = msg.data
 
+    def dumper_stowed_callback(self, msg):
+        self.dumper_stowed = msg.data
+
     def extend_push_callback(self, request, response):
         """
         This service requests to extend the push motor at full speed.
diff --git a/src/dumper/dumper/dumper_node.py b/src/dumper/dumper/dumper_node.py
index 1978c247..04cc3a86 100644
--- a/src/dumper/dumper/dumper_node.py
+++ b/src/dumper/dumper/dumper_node.py
@@ -79,8 +79,14 @@ def __init__(self):
         )
         
         self.auger_stowed_sub = self.create_subscription(
-            Bool, "stowed", self.auger_stowed_callback, 10
+            Bool, "auger_stowed", self.auger_stowed_callback, 10
         )
+
+        self.dumper_stowed_pub = self.create_publisher(
+            Bool, "dumper_stowed", 10
+        )
+
+        self.dumper_stowed = True
         self.limitSwitchBottom = False
         self.auger_stowed = True
 
@@ -140,6 +146,10 @@ def dump_dumper(self) -> None:
             MotorCommandSet.Request(type="position", can_id=self.DUMPER_MOTOR, value=90)
         )
 
+        self.dumper_stowed = False
+        msg = Bool()
+        msg.data = self.dumper_stowed
+        self.dumper_stowed_pub.publish(msg)
         while not future.done():  # While loop makes the motor keep going till limit switch is hit
             if self.cancel_current_srv:
                 self.cancel_current_srv = False
@@ -156,9 +166,6 @@ def dump_callback(self, request, response):
         return response
 
     def store_dumper(self) -> None:  # get the variables
-        if not self.auger_stowed:
-            self.get_logger().info("The Auger is already extended")
-            return
         self.get_logger().info("Retracting the dumper")
         self.dumped_state = False
         self.long_service_running = True
@@ -172,6 +179,10 @@ def store_dumper(self) -> None:  # get the variables
             time.sleep(0.1)
 
         self.stop()
+        self.dumper_stowed = True
+        msg = Bool()
+        msg.data = self.dumper_stowed
+        self.dumper_stowed_pub.publish(msg)
         self.long_service_running = False
         self.get_logger().info("Done storing the dumper")
 

From 659770f535ce74731fcc3fdcd862446b442e96a3 Mon Sep 17 00:00:00 2001
From: hdjwis <adarshyraju@gmail.com>
Date: Fri, 27 Feb 2026 00:38:43 +0000
Subject: [PATCH 4/6] updated drivetrain safety check to use extension position

---
 config/motor_control.yaml                    |  2 +-
 src/auger/auger/auger_node.py                |  9 +++++++++
 src/drivetrain/drivetrain/drivetrain_node.py | 18 ++++++++++--------
 3 files changed, 20 insertions(+), 9 deletions(-)

diff --git a/config/motor_control.yaml b/config/motor_control.yaml
index a756c74c..2b271ac4 100644
--- a/config/motor_control.yaml
+++ b/config/motor_control.yaml
@@ -16,7 +16,7 @@
     DIGGER_ACTUATORS_kP_coupling: 0.004 # kP for digger actuator position syncing
     DIGGER_PITCH_kP: 2.5 # kP for tipping while digging
     TIPPING_SPEED_ADJUSTMENT: false # determines if pitch speed adjustment is used
-    DIGGER_SAFETY_ZONE: 120 # Measured in potentiometer units (0 to 1023)
+    EXTENSION_SAFETY_ZONE: 0 # Measured in potentiometer units (0 to 1023)
     CURRENT_SPIKE_THRESHOLD: 1.8 # Threshold for current spike detection (measured in Amps)
     CURRENT_SPIKE_TIME: 0.2 # Time in seconds to consider it a current spike (measured in seconds)
     BUCKETS_CURRENT_SPIKE_THRESHOLD: 12.0 # Threshold for current spike detection (measured in Amps)
diff --git a/src/auger/auger/auger_node.py b/src/auger/auger/auger_node.py
index 134bdf0a..827e2cd3 100644
--- a/src/auger/auger/auger_node.py
+++ b/src/auger/auger/auger_node.py
@@ -20,6 +20,8 @@
 from rovr_interfaces.srv import SetExtension
 from rovr_interfaces.msg import Potentiometers
 from std_srvs.srv import Trigger
+from std_msgs.msg import Bool, Float32
+
 
 
 class Auger(Node):
@@ -216,6 +218,10 @@ def __init__(self):
             Bool, "auger_stowed", 10
         )
 
+        self.extension_pos_sub = self.create_publisher(
+            Float32, "extension_pos", 10
+        )
+
         
 
         
@@ -386,6 +392,9 @@ def set_motor_push_position(
 
             if motor_get_pos_future.result().success:
                 current_pos = motor_get_pos_future.result().data
+                msg = Float32()
+                msg.data = current_pos
+                self.extension_pos_sub.publish(msg)
                 if (speed <= 0 and current_pos <= desired_position) or (
                     speed > 0 and current_pos >= desired_position) or (self.extension_limit_switch):
                     break
diff --git a/src/drivetrain/drivetrain/drivetrain_node.py b/src/drivetrain/drivetrain/drivetrain_node.py
index 5910eb0c..496c98e0 100644
--- a/src/drivetrain/drivetrain/drivetrain_node.py
+++ b/src/drivetrain/drivetrain/drivetrain_node.py
@@ -30,7 +30,7 @@ def __init__(self):
         self.declare_parameter("GAZEBO_SIMULATION", False)
         self.declare_parameter("MAX_DRIVETRAIN_RPM", 10000)
         self.declare_parameter("DRIVETRAIN_TYPE", "velocity")
-        self.declare_parameter("DIGGER_SAFETY_ZONE", 120)  # Measured in potentiometer units (0 to 1023)
+        self.declare_parameter("EXTENSION_SAFETY_ZONE", 0)  # Measured in potentiometer units (0 to 1023)
 
         # Assign the ROS Parameters to member variables below #
         self.FRONT_LEFT_DRIVE = self.get_parameter("FRONT_LEFT_DRIVE").value
@@ -40,11 +40,11 @@ def __init__(self):
         self.GAZEBO_SIMULATION = self.get_parameter("GAZEBO_SIMULATION").value
         self.MAX_DRIVETRAIN_RPM = self.get_parameter("MAX_DRIVETRAIN_RPM").value
         self.DRIVETRAIN_TYPE = self.get_parameter("DRIVETRAIN_TYPE").value
-        self.DIGGER_SAFETY_ZONE = self.get_parameter("DIGGER_SAFETY_ZONE").value
+        self.EXTENSION_SAFETY_ZONE = self.get_parameter("EXTENSION_SAFETY_ZONE").value
 
         # Define publishers and subscribers here
         self.cmd_vel_sub = self.create_subscription(Twist, "cmd_vel", self.cmd_vel_callback, 10)
-        self.lift_pose_subscription = self.create_subscription(Float32, "lift_pose", self.lift_pose_callback, 10)
+        self.extension_sub = self.create_subscription(Float32, "extension_pos", self.extension_callback, 10)
 
         if self.GAZEBO_SIMULATION:
             self.gazebo_front_left_wheel_pub = self.create_publisher(Float64, "front_left_wheel/cmd_vel", 10)
@@ -66,17 +66,19 @@ def __init__(self):
         self.get_logger().info("BACK_RIGHT_DRIVE has been set to: " + str(self.BACK_RIGHT_DRIVE))
         self.get_logger().info("GAZEBO_SIMULATION has been set to: " + str(self.GAZEBO_SIMULATION))
         self.get_logger().info("MAX_DRIVETRAIN_RPM has been set to: " + str(self.MAX_DRIVETRAIN_RPM))
-        self.get_logger().info("DIGGER_SAFETY_ZONE has been set to: " + str(self.DIGGER_SAFETY_ZONE))
+        self.get_logger().info("EXTENSION_SAFETY_ZONE has been set to: " + str(self.EXTENSION_SAFETY_ZONE))
+
+       
 
         # Current position of the lift motor in potentiometer units (0 to 1023)
-        self.current_lift_position = None  # We don't know the current position yet
+        self.extension_pos = None  # We don't know the current position yet
 
     # Define subsystem methods here
     def drive(self, forward_power: float, turning_power: float) -> None:
         """This method drives the robot with the desired forward and turning power."""
 
         if (
-            (self.current_lift_position is None or self.current_lift_position > self.DIGGER_SAFETY_ZONE)
+            (self.extension_pos is None or self.extension_pos > self.EXTENSION_SAFETY_ZONE)
             and not self.GAZEBO_SIMULATION
             and (forward_power != 0 or turning_power != 0)
         ):
@@ -165,9 +167,9 @@ def cmd_vel_callback(self, msg: Twist) -> None:
         self.drive(msg.linear.x, msg.angular.z)
 
     # Define the subscriber callback for the lift pose topic
-    def lift_pose_callback(self, msg: Float32):
+    def extension_callback(self, msg: Float32):
         # Average the two potentiometer values
-        self.current_lift_position = msg.data
+        self.extension_pos = msg.data
 
 
 def main(args=None):

From 09cedc20305abd186a9687c22445d781f6cc1032 Mon Sep 17 00:00:00 2001
From: Michael Foley <114529526+Michael-Foley@users.noreply.github.com>
Date: Tue, 3 Mar 2026 19:36:04 -0600
Subject: [PATCH 5/6] changed arduino limit switch readins to analog because
 they are booleans.

---
 arduino/sensors/sensors.ino | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/arduino/sensors/sensors.ino b/arduino/sensors/sensors.ino
index 705fd153..d1fb934a 100644
--- a/arduino/sensors/sensors.ino
+++ b/arduino/sensors/sensors.ino
@@ -27,8 +27,8 @@ void loop() {
 
   // Read from the analog inputs (potentiometers)
   data.tiltPotentiometer = analogRead(TILT_POTENTIOMETER);  // Read left motor potentiometer value
-  data.dumpLimitSwitch = analogRead(DUMP_LIMIT_SWITCH); // Read right motor potentiometer value
-  data.extensionLimitSwitch  = analogRead(EXTENSION_LIMIT_SWITCH); //bottom limit switch value
+  data.dumpLimitSwitch = digitalRead(DUMP_LIMIT_SWITCH);
+  data.extensionLimitSwitch  = digitalRead(EXTENSION_LIMIT_SWITCH);
 
   // Send the struct over the serial bus to the Nvidia Jetson
   Serial.write((byte *)&data, sizeof(SensorData));

From a3eeb64989854e5ce18ba16e5e25acd82deef63d Mon Sep 17 00:00:00 2001
From: Michael Foley <114529526+Michael-Foley@users.noreply.github.com>
Date: Tue, 3 Mar 2026 19:46:11 -0600
Subject: [PATCH 6/6] fixed formatting

---
 src/auger/auger/auger_node.py                |  20 ++-
 src/drivetrain/drivetrain/drivetrain_node.py | 123 ++++++++++++++-----
 src/dumper/dumper/dumper_node.py             |  44 +++++--
 src/rovr_control/rovr_control/read_serial.py |   5 +-
 4 files changed, 133 insertions(+), 59 deletions(-)

diff --git a/src/auger/auger/auger_node.py b/src/auger/auger/auger_node.py
index 827e2cd3..53a5ae56 100644
--- a/src/auger/auger/auger_node.py
+++ b/src/auger/auger/auger_node.py
@@ -23,7 +23,6 @@
 from std_msgs.msg import Bool, Float32
 
 
-
 class Auger(Node):
     def __init__(self):
         "Initialize the ROS 2 Auger node"
@@ -214,17 +213,9 @@ def __init__(self):
         )
 
         # TODO Define publishers here
-        self.auger_stowed_pub = self.create_publisher(
-            Bool, "auger_stowed", 10
-        )
-
-        self.extension_pos_sub = self.create_publisher(
-            Float32, "extension_pos", 10
-        )
+        self.auger_stowed_pub = self.create_publisher(Bool, "auger_stowed", 10)
 
-        
-
-        
+        self.extension_pos_sub = self.create_publisher(Float32, "extension_pos", 10)
 
     # Define subsystem methods here
 
@@ -395,8 +386,11 @@ def set_motor_push_position(
                 msg = Float32()
                 msg.data = current_pos
                 self.extension_pos_sub.publish(msg)
-                if (speed <= 0 and current_pos <= desired_position) or (
-                    speed > 0 and current_pos >= desired_position) or (self.extension_limit_switch):
+                if (
+                    (speed <= 0 and current_pos <= desired_position)
+                    or (speed > 0 and current_pos >= desired_position)
+                    or (self.extension_limit_switch)
+                ):
                     break
             else:
                 self.get_logger().warn("WARNING: Failed to read push motor position")
diff --git a/src/drivetrain/drivetrain/drivetrain_node.py b/src/drivetrain/drivetrain/drivetrain_node.py
index 496c98e0..f82b4923 100644
--- a/src/drivetrain/drivetrain/drivetrain_node.py
+++ b/src/drivetrain/drivetrain/drivetrain_node.py
@@ -30,7 +30,9 @@ def __init__(self):
         self.declare_parameter("GAZEBO_SIMULATION", False)
         self.declare_parameter("MAX_DRIVETRAIN_RPM", 10000)
         self.declare_parameter("DRIVETRAIN_TYPE", "velocity")
-        self.declare_parameter("EXTENSION_SAFETY_ZONE", 0)  # Measured in potentiometer units (0 to 1023)
+        self.declare_parameter(
+            "EXTENSION_SAFETY_ZONE", 0
+        )  # Measured in potentiometer units (0 to 1023)
 
         # Assign the ROS Parameters to member variables below #
         self.FRONT_LEFT_DRIVE = self.get_parameter("FRONT_LEFT_DRIVE").value
@@ -43,32 +45,60 @@ def __init__(self):
         self.EXTENSION_SAFETY_ZONE = self.get_parameter("EXTENSION_SAFETY_ZONE").value
 
         # Define publishers and subscribers here
-        self.cmd_vel_sub = self.create_subscription(Twist, "cmd_vel", self.cmd_vel_callback, 10)
-        self.extension_sub = self.create_subscription(Float32, "extension_pos", self.extension_callback, 10)
+        self.cmd_vel_sub = self.create_subscription(
+            Twist, "cmd_vel", self.cmd_vel_callback, 10
+        )
+        self.extension_sub = self.create_subscription(
+            Float32, "extension_pos", self.extension_callback, 10
+        )
 
         if self.GAZEBO_SIMULATION:
-            self.gazebo_front_left_wheel_pub = self.create_publisher(Float64, "front_left_wheel/cmd_vel", 10)
-            self.gazebo_back_left_wheel_pub = self.create_publisher(Float64, "back_left_wheel/cmd_vel", 10)
-            self.gazebo_front_right_wheel_pub = self.create_publisher(Float64, "front_right_wheel/cmd_vel", 10)
-            self.gazebo_back_right_wheel_pub = self.create_publisher(Float64, "back_right_wheel/cmd_vel", 10)
+            self.gazebo_front_left_wheel_pub = self.create_publisher(
+                Float64, "front_left_wheel/cmd_vel", 10
+            )
+            self.gazebo_back_left_wheel_pub = self.create_publisher(
+                Float64, "back_left_wheel/cmd_vel", 10
+            )
+            self.gazebo_front_right_wheel_pub = self.create_publisher(
+                Float64, "front_right_wheel/cmd_vel", 10
+            )
+            self.gazebo_back_right_wheel_pub = self.create_publisher(
+                Float64, "back_right_wheel/cmd_vel", 10
+            )
 
         # Define service clients here
         self.cli_motor_set = self.create_client(MotorCommandSet, "motor/set")
 
         # Define services (methods callable from the outside) here
-        self.srv_stop = self.create_service(Trigger, "drivetrain/stop", self.stop_callback)
-        self.srv_drive = self.create_service(Drive, "drivetrain/drive", self.drive_callback)
+        self.srv_stop = self.create_service(
+            Trigger, "drivetrain/stop", self.stop_callback
+        )
+        self.srv_drive = self.create_service(
+            Drive, "drivetrain/drive", self.drive_callback
+        )
 
         # Print the ROS Parameters to the terminal below #
-        self.get_logger().info("FRONT_LEFT_DRIVE has been set to: " + str(self.FRONT_LEFT_DRIVE))
-        self.get_logger().info("FRONT_RIGHT_DRIVE has been set to: " + str(self.FRONT_RIGHT_DRIVE))
-        self.get_logger().info("BACK_LEFT_DRIVE has been set to: " + str(self.BACK_LEFT_DRIVE))
-        self.get_logger().info("BACK_RIGHT_DRIVE has been set to: " + str(self.BACK_RIGHT_DRIVE))
-        self.get_logger().info("GAZEBO_SIMULATION has been set to: " + str(self.GAZEBO_SIMULATION))
-        self.get_logger().info("MAX_DRIVETRAIN_RPM has been set to: " + str(self.MAX_DRIVETRAIN_RPM))
-        self.get_logger().info("EXTENSION_SAFETY_ZONE has been set to: " + str(self.EXTENSION_SAFETY_ZONE))
-
-       
+        self.get_logger().info(
+            "FRONT_LEFT_DRIVE has been set to: " + str(self.FRONT_LEFT_DRIVE)
+        )
+        self.get_logger().info(
+            "FRONT_RIGHT_DRIVE has been set to: " + str(self.FRONT_RIGHT_DRIVE)
+        )
+        self.get_logger().info(
+            "BACK_LEFT_DRIVE has been set to: " + str(self.BACK_LEFT_DRIVE)
+        )
+        self.get_logger().info(
+            "BACK_RIGHT_DRIVE has been set to: " + str(self.BACK_RIGHT_DRIVE)
+        )
+        self.get_logger().info(
+            "GAZEBO_SIMULATION has been set to: " + str(self.GAZEBO_SIMULATION)
+        )
+        self.get_logger().info(
+            "MAX_DRIVETRAIN_RPM has been set to: " + str(self.MAX_DRIVETRAIN_RPM)
+        )
+        self.get_logger().info(
+            "EXTENSION_SAFETY_ZONE has been set to: " + str(self.EXTENSION_SAFETY_ZONE)
+        )
 
         # Current position of the lift motor in potentiometer units (0 to 1023)
         self.extension_pos = None  # We don't know the current position yet
@@ -78,7 +108,10 @@ def drive(self, forward_power: float, turning_power: float) -> None:
         """This method drives the robot with the desired forward and turning power."""
 
         if (
-            (self.extension_pos is None or self.extension_pos > self.EXTENSION_SAFETY_ZONE)
+            (
+                self.extension_pos is None
+                or self.extension_pos > self.EXTENSION_SAFETY_ZONE
+            )
             and not self.GAZEBO_SIMULATION
             and (forward_power != 0 or turning_power != 0)
         ):
@@ -106,25 +139,45 @@ def drive(self, forward_power: float, turning_power: float) -> None:
 
         # Send velocity (not duty cycle) motor commands to the motor_control_node
         self.cli_motor_set.call_async(
-            MotorCommandSet.Request(can_id=self.FRONT_LEFT_DRIVE, type=self.DRIVETRAIN_TYPE, value=leftPower)
+            MotorCommandSet.Request(
+                can_id=self.FRONT_LEFT_DRIVE, type=self.DRIVETRAIN_TYPE, value=leftPower
+            )
         )
         self.cli_motor_set.call_async(
-            MotorCommandSet.Request(can_id=self.BACK_LEFT_DRIVE, type=self.DRIVETRAIN_TYPE, value=leftPower)
+            MotorCommandSet.Request(
+                can_id=self.BACK_LEFT_DRIVE, type=self.DRIVETRAIN_TYPE, value=leftPower
+            )
         )
         self.cli_motor_set.call_async(
-            MotorCommandSet.Request(can_id=self.FRONT_RIGHT_DRIVE, type=self.DRIVETRAIN_TYPE, value=rightPower)
+            MotorCommandSet.Request(
+                can_id=self.FRONT_RIGHT_DRIVE,
+                type=self.DRIVETRAIN_TYPE,
+                value=rightPower,
+            )
         )
         self.cli_motor_set.call_async(
-            MotorCommandSet.Request(can_id=self.BACK_RIGHT_DRIVE, type=self.DRIVETRAIN_TYPE, value=rightPower)
+            MotorCommandSet.Request(
+                can_id=self.BACK_RIGHT_DRIVE,
+                type=self.DRIVETRAIN_TYPE,
+                value=rightPower,
+            )
         )
 
         # Publish the wheel speeds to the gazebo simulation
         if self.GAZEBO_SIMULATION:
             if self.DRIVETRAIN_TYPE == "velocity":
-                self.gazebo_front_left_wheel_pub.publish(Float64(data=leftPower / self.MAX_DRIVETRAIN_RPM))
-                self.gazebo_back_left_wheel_pub.publish(Float64(data=leftPower / self.MAX_DRIVETRAIN_RPM))
-                self.gazebo_front_right_wheel_pub.publish(Float64(data=rightPower / self.MAX_DRIVETRAIN_RPM))
-                self.gazebo_back_right_wheel_pub.publish(Float64(data=rightPower / self.MAX_DRIVETRAIN_RPM))
+                self.gazebo_front_left_wheel_pub.publish(
+                    Float64(data=leftPower / self.MAX_DRIVETRAIN_RPM)
+                )
+                self.gazebo_back_left_wheel_pub.publish(
+                    Float64(data=leftPower / self.MAX_DRIVETRAIN_RPM)
+                )
+                self.gazebo_front_right_wheel_pub.publish(
+                    Float64(data=rightPower / self.MAX_DRIVETRAIN_RPM)
+                )
+                self.gazebo_back_right_wheel_pub.publish(
+                    Float64(data=rightPower / self.MAX_DRIVETRAIN_RPM)
+                )
             else:
                 self.gazebo_front_left_wheel_pub.publish(Float64(data=leftPower))
                 self.gazebo_back_left_wheel_pub.publish(Float64(data=leftPower))
@@ -135,16 +188,24 @@ def drive(self, forward_power: float, turning_power: float) -> None:
     def stop(self) -> None:
         """This method stops the drivetrain."""
         self.cli_motor_set.call_async(
-            MotorCommandSet.Request(can_id=self.FRONT_LEFT_DRIVE, type="duty_cycle", value=0.0)
+            MotorCommandSet.Request(
+                can_id=self.FRONT_LEFT_DRIVE, type="duty_cycle", value=0.0
+            )
         )
         self.cli_motor_set.call_async(
-            MotorCommandSet.Request(can_id=self.BACK_LEFT_DRIVE, type="duty_cycle", value=0.0)
+            MotorCommandSet.Request(
+                can_id=self.BACK_LEFT_DRIVE, type="duty_cycle", value=0.0
+            )
         )
         self.cli_motor_set.call_async(
-            MotorCommandSet.Request(can_id=self.FRONT_RIGHT_DRIVE, type="duty_cycle", value=0.0)
+            MotorCommandSet.Request(
+                can_id=self.FRONT_RIGHT_DRIVE, type="duty_cycle", value=0.0
+            )
         )
         self.cli_motor_set.call_async(
-            MotorCommandSet.Request(can_id=self.BACK_RIGHT_DRIVE, type="duty_cycle", value=0.0)
+            MotorCommandSet.Request(
+                can_id=self.BACK_RIGHT_DRIVE, type="duty_cycle", value=0.0
+            )
         )
 
     # Define service callback methods here
diff --git a/src/dumper/dumper/dumper_node.py b/src/dumper/dumper/dumper_node.py
index 04cc3a86..8f484649 100644
--- a/src/dumper/dumper/dumper_node.py
+++ b/src/dumper/dumper/dumper_node.py
@@ -34,10 +34,16 @@ def __init__(self):
 
         # Define services (methods callable from the outside) here
         self.srv_toggle = self.create_service(
-            Trigger, "dumper/toggle", self.toggle_callback, callback_group=self.service_cb_group
+            Trigger,
+            "dumper/toggle",
+            self.toggle_callback,
+            callback_group=self.service_cb_group,
         )
         self.srv_stop = self.create_service(
-            Trigger, "dumper/stop", self.stop_callback, callback_group=self.stop_service_cb_group
+            Trigger,
+            "dumper/stop",
+            self.stop_callback,
+            callback_group=self.stop_service_cb_group,
         )
         self.srv_setPower = self.create_service(
             SetPower,
@@ -47,10 +53,16 @@ def __init__(self):
         )
 
         self.srv_dumpDumper = self.create_service(
-            Trigger, "dumper/storeDumper", self.dump_callback, callback_group=self.service_cb_group
+            Trigger,
+            "dumper/storeDumper",
+            self.dump_callback,
+            callback_group=self.service_cb_group,
         )
         self.srv_storeDumper = self.create_service(
-            Trigger, "dumper/dumpDumper", self.store_callback, callback_group=self.service_cb_group
+            Trigger,
+            "dumper/dumpDumper",
+            self.store_callback,
+            callback_group=self.service_cb_group,
         )
 
         # Define default values for our ROS parameters below #
@@ -61,7 +73,9 @@ def __init__(self):
         self.DUMPER_POWER = self.get_parameter("DUMPER_POWER").value
 
         # Print the ROS Parameters to the terminal below #
-        self.get_logger().info("DUMPER_MOTOR has been set to: " + str(self.DUMPER_MOTOR))
+        self.get_logger().info(
+            "DUMPER_MOTOR has been set to: " + str(self.DUMPER_MOTOR)
+        )
 
         # Current state of the dumper
         self.dumped_state = False
@@ -77,14 +91,12 @@ def __init__(self):
         self.KillSwitch_sub = self.create_subscription(
             Bool, "DumperLimitSwitch", self.killSwitch_callback, 10
         )
-        
+
         self.auger_stowed_sub = self.create_subscription(
             Bool, "auger_stowed", self.auger_stowed_callback, 10
         )
 
-        self.dumper_stowed_pub = self.create_publisher(
-            Bool, "dumper_stowed", 10
-        )
+        self.dumper_stowed_pub = self.create_publisher(Bool, "dumper_stowed", 10)
 
         self.dumper_stowed = True
         self.limitSwitchBottom = False
@@ -102,7 +114,9 @@ def set_power(self, dumper_power: float) -> None:
     def stop(self) -> None:
         """This method stops the dumper."""
         self.cli_motor_set.call_async(
-            MotorCommandSet.Request(type="duty_cycle", can_id=self.DUMPER_MOTOR, value=0.0)
+            MotorCommandSet.Request(
+                type="duty_cycle", can_id=self.DUMPER_MOTOR, value=0.0
+            )
         )
 
     def toggle(self) -> None:
@@ -150,7 +164,9 @@ def dump_dumper(self) -> None:
         msg = Bool()
         msg.data = self.dumper_stowed
         self.dumper_stowed_pub.publish(msg)
-        while not future.done():  # While loop makes the motor keep going till limit switch is hit
+        while (
+            not future.done()
+        ):  # While loop makes the motor keep going till limit switch is hit
             if self.cancel_current_srv:
                 self.cancel_current_srv = False
                 break
@@ -170,7 +186,9 @@ def store_dumper(self) -> None:  # get the variables
         self.dumped_state = False
         self.long_service_running = True
         self.cli_motor_set.call_async(
-            MotorCommandSet.Request(type="duty_cycle", can_id=self.DUMPER_MOTOR, value=self.DUMPER_POWER)
+            MotorCommandSet.Request(
+                type="duty_cycle", can_id=self.DUMPER_MOTOR, value=self.DUMPER_POWER
+            )
         )
         while not self.limitSwitchBottom:
             if self.cancel_current_srv:
@@ -199,7 +217,7 @@ def dumper_current_callback(self, msg):
     def killSwitch_callback(self, msg):
         # position control...
         self.LimitSwitchBottom = msg.data
-    
+
     def auger_stowed_callback(self, msg):
         self.auger_stowed = msg.data
 
diff --git a/src/rovr_control/rovr_control/read_serial.py b/src/rovr_control/rovr_control/read_serial.py
index 64f7f335..48a243c0 100644
--- a/src/rovr_control/rovr_control/read_serial.py
+++ b/src/rovr_control/rovr_control/read_serial.py
@@ -14,7 +14,9 @@ def __init__(self):
 
         self.potentiometerPub = self.create_publisher(Int16, "potentiometer", 10)
         self.DumperLimitSwitchPub = self.create_publisher(Bool, "DumperLimitSwitch", 10)
-        self.ExtensionLimitSwitchPub = self.create_publisher(Bool, "ExtensionLimitSwitch", 10)
+        self.ExtensionLimitSwitchPub = self.create_publisher(
+            Bool, "ExtensionLimitSwitch", 10
+        )
 
         # Services to control the relay-driven agitator motor
         self.srv_bigonoff = self.create_service(
@@ -67,7 +69,6 @@ def timer_callback(self):
         extension_bool_msg.data = decoded[2]
         self.ExtensionLimitSwitchPub.publish(extension_bool_msg)
 
-
     def big_on_off_callback(self, request, response):
         # request.data == True  → ON, False → OFF
         cmd = b"1" if request.data else b"0"