Change I2C bus

Author: NoahMollerstuen

src/pi/manipulators/manipulators/manipulator_dry_run.py

@@ -2,11 +2,12 @@
 
 from smbus2 import SMBus, i2c_msg
 
+I2C_BUS = 6
 ADDRESS = 0x20
 
 
 def main() -> None:
-    with SMBus(1) as bus:
+    with SMBus(I2C_BUS) as bus:
         while True:
             print('on')
             write_all = i2c_msg.write(ADDRESS, [0x06, 0b00000000])

src/pi/manipulators/manipulators/manipulator_node.py

@@ -6,6 +6,7 @@
 
 from rov_msgs.msg import Manip
 
+I2C_BUS = 6
 ADRRESS = 0x20
 CMD_BYTE = 0x06
 
@@ -23,7 +24,7 @@ def __init__(self) -> None:
             parameters=[('left', Parameter.Type.INTEGER), ('right', Parameter.Type.INTEGER)],
         )
 
-        self.i2c = SMBus(1)
+        self.i2c = SMBus(I2C_BUS)
         self.state = 0
 
     def manip_callback(self, message: Manip) -> None: