Diff: HLComms.cpp

Revision:

32:8c59c536a2a6

Parent:

31:08cb04eb75fc

Child:

33:9877ca32e43c

--- a/HLComms.cpp	Wed Mar 06 10:28:59 2019 +0000
+++ b/HLComms.cpp	Fri Mar 08 12:44:29 2019 +0000
@@ -88,12 +88,9 @@
     recv_mutex.lock();
     for(int i=0; i<N_CHANNELS; i++) {
         _protected_input.psi_mm[i] = (double)demands_array.data[i];
-        if( _protected_input.psi_mm[i]<-0.5 ) {
-            _protected_input.psi_mm[i] = -1.0;
-        } else {
-            _protected_input.psi_mm[i] = min( max(_protected_input.psi_mm[i],0.0) , (double)MAX_ACTUATOR_LIMIT_MM );
-        }
+        //_protected_input.psi_mm[i] = min( max(_protected_input.psi_mm[i],0.0) , (double)MAX_ACTUATOR_LIMIT_MM );
     }
+    // demands_array.data[8] ignored
     _protected_input.speeds_mmps[0] = (double)demands_array.data[9];
     _protected_input.speeds_mmps[0] = min( max(_protected_input.speeds_mmps[0],0.0) , (double)MAX_SPEED_MMPS );
     _protected_input.speeds_mmps[1] = (double)demands_array.data[10];