Diff: main.cpp

Revision:

18:6533fb7f5a91

Parent:

17:bbaf3e8440ad

Child:

19:e5acb2183d4e

--- a/main.cpp	Thu Oct 04 15:27:15 2018 +0000
+++ b/main.cpp	Wed Oct 10 13:36:57 2018 +0000
@@ -80,7 +80,7 @@
         return;
     }
     
-    SendSensorDataTicker.attach(&signalSendSensorData, 1); // Set up planning thread to recur at fixed intervals
+    SendSensorDataTicker.attach(&signalSendSensorData, 0.1); // Set up planning thread to recur at fixed intervals
     
     int ii;
     struct msg_format input; //hlcomms.msg_format
@@ -207,9 +207,7 @@
             _dblVelocity_mmps[ii] = (dblTargetActPos_mm[ii] - dblADCCurrentPosition[ii]) / dblMaxRecalculatedTime;
             dblVelocity_mmps[ii] = _dblVelocity_mmps[ii];
         }
-        // !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! MUTEX TO PROTECT SEND_BUFFER
         // SEND MESSAGE
-        //dblMaxRecalculatedTime = 1.0;
         error_code = hlcomms.send_duration_message(&dblMaxRecalculatedTime);
         if( error_code < 0 ) {
             if(IS_PRINT_OUTPUT) printf("Error %i. Could not send data over the TCP socket. "