From 16bc26d7d2e1da35c4dd5d498112699cfe19d9f1 Mon Sep 17 00:00:00 2001
From: Tanner <tanner@example.com>
Date: Fri, 28 Feb 2025 15:32:57 -0800
Subject: [PATCH] Fix relays

---
 dyn4.py   | 2 +-
 main.py   | 6 ++++--
 relays.py | 8 +++++---
 3 files changed, 10 insertions(+), 6 deletions(-)

diff --git a/dyn4.py b/dyn4.py
index 3a35a82..9bd4912 100755
--- a/dyn4.py
+++ b/dyn4.py
@@ -661,7 +661,7 @@ def serial_loop(dev_fn):
         d['TrqCurrent'] = dmm.read_TrqCurrent()
 
         if True:
-            dmm.set_speed(-30)
+            dmm.set_speed(0)
 
             time.sleep(.5)
             d['Speed'] = dmm.measure_speed()
diff --git a/main.py b/main.py
index 687155a..a5293de 100644
--- a/main.py
+++ b/main.py
@@ -11,6 +11,7 @@ import asyncio
 import aiomqtt
 import serial
 import glob
+import time
 
 import dyn4
 import relays
@@ -23,8 +24,8 @@ dmm1 = None
 dmm2 = None
 
 
-MOTOR_EN1 = 0
-MOTOR_EN2 = 1
+MOTOR_EN1 = 1
+MOTOR_EN2 = 2
 
 def enable_motors():
     logging.info('Enabling both motors...')
@@ -195,6 +196,7 @@ def task_died(future):
 
 def main():
     enable_motors()
+    time.sleep(2)
 
     loop = asyncio.get_event_loop()
 
diff --git a/relays.py b/relays.py
index c248797..65f8c70 100644
--- a/relays.py
+++ b/relays.py
@@ -7,10 +7,10 @@ DEVICE_ADDR = 0x10
 bus = smbus.SMBus(DEVICE_BUS)
 
 def relay_on(num):
-    bus.write_byte_data(DEVICE_ADDR, num, 0x00)
+    bus.write_byte_data(DEVICE_ADDR, num, 0xFF)
 
 def relay_off(num):
-    bus.write_byte_data(DEVICE_ADDR, num, 0xFF)
+    bus.write_byte_data(DEVICE_ADDR, num, 0x00)
 
 def test():
     while True:
@@ -25,4 +25,6 @@ def test():
 
 
 if __name__ == '__main__':
-    test()
+    #test()
+    relay_off(1)
+    relay_off(2)