From 53ee5d41ebcbcaeb8a89d603ae75e414ee71fcd1 Mon Sep 17 00:00:00 2001
From: wangWking <842749351@qq.com>
Date: Wed, 20 Dec 2023 10:58:36 +0800
Subject: [PATCH] update mercury mode

---
 Mercury/mercury_a1/scripts/slider_control.py                | 4 ++--
 .../mercury_a1_communication/scripts/mercury_services.py    | 4 ++--
 Mercury/mercury_a1_moveit/scripts/sync_plan.py              | 4 ++--
 Mercury/mercury_b1/scripts/slider_control.py                | 6 +++---
 Mercury/mercury_b1_moveit/scripts/sync_plan.py              | 6 +++---
 5 files changed, 12 insertions(+), 12 deletions(-)

diff --git a/Mercury/mercury_a1/scripts/slider_control.py b/Mercury/mercury_a1/scripts/slider_control.py
index e249859..163e0aa 100755
--- a/Mercury/mercury_a1/scripts/slider_control.py
+++ b/Mercury/mercury_a1/scripts/slider_control.py
@@ -40,8 +40,8 @@ def listener():
     print(port, baud)
     mc = Mercury(port, baud)
     time.sleep(0.05)
-    mc.set_fresh_mode(1)
-    time.sleep(0.05)
+    # mc.set_fresh_mode(1)
+    # time.sleep(0.05)
 
     # spin() simply keeps python from exiting until this node is stopped
     # spin()只是阻止python退出，直到该节点停止
diff --git a/Mercury/mercury_a1_communication/scripts/mercury_services.py b/Mercury/mercury_a1_communication/scripts/mercury_services.py
index 5936f65..2d7a358 100755
--- a/Mercury/mercury_a1_communication/scripts/mercury_services.py
+++ b/Mercury/mercury_a1_communication/scripts/mercury_services.py
@@ -58,8 +58,8 @@ def create_handle():
     rospy.loginfo("%s,%s" % (port, baud))
     mc = Mercury(port, baud)
     time.sleep(0.05)
-    mc.set_fresh_mode(1)
-    time.sleep(0.05)
+    # mc.set_fresh_mode(1)
+    # time.sleep(0.05)
 
 def create_services():
     rospy.Service("set_joint_angles", SetAngles, set_angles)
diff --git a/Mercury/mercury_a1_moveit/scripts/sync_plan.py b/Mercury/mercury_a1_moveit/scripts/sync_plan.py
index bf7877d..5e7f74e 100755
--- a/Mercury/mercury_a1_moveit/scripts/sync_plan.py
+++ b/Mercury/mercury_a1_moveit/scripts/sync_plan.py
@@ -41,8 +41,8 @@ def listener():
     print(port, baud)
     mc = Mercury(port, baud)
     time.sleep(0.05)
-    mc.set_fresh_mode(1)
-    time.sleep(0.05)
+    # mc.set_fresh_mode(1)
+    # time.sleep(0.05)
     # spin() simply keeps python from exiting until this node is stopped
     # spin()只是阻止python退出，直到该节点停止
     print("spin ...")
diff --git a/Mercury/mercury_b1/scripts/slider_control.py b/Mercury/mercury_b1/scripts/slider_control.py
index 5f64ce6..48fe1bc 100755
--- a/Mercury/mercury_b1/scripts/slider_control.py
+++ b/Mercury/mercury_b1/scripts/slider_control.py
@@ -60,9 +60,9 @@ def listener():
     l = Mercury(port1, baud)
     r = Mercury(port2, baud)
     time.sleep(0.05)
-    l.set_fresh_mode(1)
-    r.set_fresh_mode(1)
-    time.sleep(0.05)
+    # l.set_fresh_mode(1)
+    # r.set_fresh_mode(1)
+    # time.sleep(0.05)
     # spin() simply keeps python from exiting until this node is stopped
     # spin()只是阻止python退出，直到该节点停止
     print("spin ...")
diff --git a/Mercury/mercury_b1_moveit/scripts/sync_plan.py b/Mercury/mercury_b1_moveit/scripts/sync_plan.py
index 5ef090e..318542e 100755
--- a/Mercury/mercury_b1_moveit/scripts/sync_plan.py
+++ b/Mercury/mercury_b1_moveit/scripts/sync_plan.py
@@ -60,9 +60,9 @@ def listener():
     l = Mercury(port1, baud)
     r = Mercury(port2, baud)
     time.sleep(0.05)
-    l.set_fresh_mode(1)
-    r.set_fresh_mode(1)
-    time.sleep(0.05)
+    # l.set_fresh_mode(1)
+    # r.set_fresh_mode(1)
+    # time.sleep(0.05)
     
     # spin() simply keeps python from exiting until this node is stopped
     # spin()只是阻止python退出，直到该节点停止