How do you create and connect a standalone ArrayMotorVoltageMsg?

[patrickwalton]

I'm trying to use a standalone ArrayMotorVoltageMsg to circumvent the control path in scenarioAttitudeFeedbackRW.py with a constant voltage. I added the following before the data recording section:

# create stand-alone RW motor voltage input message
rwVoltageInMsgData = messaging.ArrayMotorVoltageMsgPayload
rwVoltageInMsgData.voltage = [0.0] * numRW
rwVoltageInMsg = messaging.ArrayMotorVoltageMsg()
rwVoltageInMsg.write(rwVoltageInMsgData)

and changed the link messages section to just:

# link messages
rwVoltageIO.motorVoltageInMsg.subscribeTo(rwVoltageInMsg)
rwStateEffector.rwMotorCmdInMsg.subscribeTo(rwVoltageIO.motorTorqueOutMsg)

but I'm getting the following error on rwVoltageInMsg.write():

Exception has occurred: TypeError
in method 'ArrayMotorVoltageMsgWriter___call__', argument 2 of type 'ArrayMotorVoltageMsgPayload *'
  File "/home/patrick/careweather/veery/model/basilisk/dist3/Basilisk/architecture/messaging/ArrayMotorVoltageMsgPayload.py", line 695, in __call__
    return _ArrayMotorVoltageMsgPayload.ArrayMotorVoltageMsgWriter___call__(self, payload, moduleID, callTime)
           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/home/patrick/careweather/veery/model/basilisk/dist3/Basilisk/architecture/messaging/ArrayMotorVoltageMsgPayload.py", line 734, in write
    writeMsg(payload, moduleID, time)#msgs written in python have 0 module ID
    ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/home/patrick/careweather/veery/model/simulations/magnetometer-calibration.py", line 544, in run
    rwVoltageInMsg.write(rwVoltageInMsgData)
  File "/home/patrick/careweather/veery/model/simulations/magnetometer-calibration.py", line 696, in <module>
    run(
TypeError: in method 'ArrayMotorVoltageMsgWriter___call__', argument 2 of type 'ArrayMotorVoltageMsgPayload *'

[WRetagne]

Hi Patrick,

you forgot the parentheses here:
rwVoltageInMsgData = messaging.ArrayMotorVoltageMsgPayload()
changing this should fix it :)

Greetings
Wiebke

[patrickwalton]

Thank you! Can't believe I missed that through all the debugging!