From bee14887a2b67244febd7a2c9c8981205b58a60c Mon Sep 17 00:00:00 2001
From: OrganomagnesiumHalide
 <99297401+OrganomagnesiumHalide@users.noreply.github.com>
Date: Sat, 12 Nov 2022 19:12:25 -0800
Subject: [PATCH] Changed command to IntEnum. Fixes issue #675

---
 .../sabertooth2x12/sabertooth2x12/board.py    | 38 ++++++++++++++-----
 mil_common/perception/yolov7-ros              |  2 +-
 2 files changed, 29 insertions(+), 11 deletions(-)

diff --git a/mil_common/drivers/sabertooth2x12/sabertooth2x12/board.py b/mil_common/drivers/sabertooth2x12/sabertooth2x12/board.py
index 1392058d4..7ea54ef44 100644
--- a/mil_common/drivers/sabertooth2x12/sabertooth2x12/board.py
+++ b/mil_common/drivers/sabertooth2x12/sabertooth2x12/board.py
@@ -1,11 +1,19 @@
 #!/usr/bin/env python3
 import struct
+from enum import IntEnum
 
 import serial
 
 from .simulated import SimulatedSabertooth2x12
 
 
+class CommandEnum(IntEnum):
+    MOTOR1_FORWARD
+    MOTOR1_BACKWARD
+    MOTOR2_FORWARD
+    MOTOR2_BACKWARD
+
+
 class Sabertooth2x12:
     """
     Helper class to interface with the Sabertooth 2x12 regenerative motor driver.
@@ -38,7 +46,7 @@ def __init__(
             self.ser = SimulatedSabertooth2x12()
 
     @staticmethod
-    def make_packet(address: int, command: int, data: int) -> bytes:
+    def make_packet(address: int, command: CommandEnum, data: int) -> bytes:
         """
         Constructs a packet given an address, command, and data. The checksum is
         added on to the end of the packet. All four integers are packed as unsigned
@@ -46,21 +54,31 @@ def make_packet(address: int, command: int, data: int) -> bytes:
 
         Args:
             address (int): ???
-            command (int): The command to send.
+            command (CommandEnum): The command to send.
             data (int): The data to put in the packet.
 
         Returns:
             bytes: The constructed packet.
         """
-        checksum = (address + command + data) & 127
-        return struct.pack("BBBB", address, command, data, checksum)
+        intCommand = 0
+        if command == CommandEnum.MOTOR1_FORWARDS:
+            intCommand = 0
+        elif command == CommandEnum.MOTOR2_FORWARDS:
+            intCommand = 4
+        elif command == CommandEnum.MOTOR1_BACKWARDS:
+            intCommand = 1
+        elif command == CommandEnum.MOTOR2_BACKWARDS:
+            intCommand = 5
+
+        checksum = (address + intCommand + data) & 127
+        return struct.pack("BBBB", address, intCommand, data, checksum)
 
-    def send_packet(self, command: int, data: int) -> None:
+    def send_packet(self, command: CommandEnum, data: int) -> None:
         """
         Sends a packet over the serial connection using the class' address.
 
         Args:
-            command (int): The command to send.
+            command (Command): The command to send.
             data (int): The data to put in the packet.
         """
         packet = self.make_packet(self.address, command, data)
@@ -75,9 +93,9 @@ def set_motor1(self, speed: float) -> None:
             speed (float): The speed to set the first motor to.
         """
         if speed < 0:
-            command = 1
+            command = CommandEnum.MOTOR1_BACKWARDS
         else:
-            command = 0
+            command = CommandEnum.MOTOR1_FORWARDS
         data = int(min(1.0, abs(speed)) * 127)
         self.send_packet(command, data)
 
@@ -90,8 +108,8 @@ def set_motor2(self, speed: float) -> None:
             speed (float): The speed to set the second motor to.
         """
         if speed < 0:
-            command = 5
+            command = CommandEnum.MOTOR2_BACKWARDS
         else:
-            command = 4
+            command = CommandEnum.MOTOR2_FORWARDS
         data = int(min(1.0, abs(speed)) * 127)
         self.send_packet(command, data)
diff --git a/mil_common/perception/yolov7-ros b/mil_common/perception/yolov7-ros
index dba012183..beadcf868 160000
--- a/mil_common/perception/yolov7-ros
+++ b/mil_common/perception/yolov7-ros
@@ -1 +1 @@
-Subproject commit dba012183a5d2ab1035c232fa7174debdfdf37e9
+Subproject commit beadcf868bb4b7a9be532c449af258e85c52bfa0