Diff: HLComms.cpp

Revision:

36:4459be8296e9

Parent:

33:9877ca32e43c

--- a/HLComms.cpp	Mon Apr 15 15:12:51 2019 +0000
+++ b/HLComms.cpp	Tue Jul 09 18:46:44 2019 +0000
@@ -59,30 +59,6 @@
 
 // INPUT
 
-/*void HLComms::receive_demands(const std_msgs::Int16MultiArray &demands_array) {
-    struct demands_struct _protected_input;
-    recv_mutex.lock();
-    for(int i=0; i<N_CHANNELS; i++) {
-        _protected_input.psi_mm[i] = ((MAX_ACTUATOR_LIMIT_MM+1.0)*((double)demands_array.data[i]/65535)-1.0);
-        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 );
-        }
-    }
-    //!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
-    //short int demands_array_length = sizeof(demands_array.data)/sizeof(demands_array.data[0]);
-    //_protected_input.speed_mmps = demands_array.data[demands_array_length-1];
-    _protected_input.speed_mmps = MAX_SPEED_MMPS*((double)demands_array.data[9]/65535);
-    _protected_input.speed_mmps = min( max(_protected_input.speed_mmps,0.0) , (double)MAX_SPEED_MMPS );
-    recv_mutex.unlock();
-    _input = _protected_input;
-    //char array[20];
-    //sprintf(array, "Speed: %f", _input.speed_mmps);
-    //send_text_message(array);
-    newData.release();
-}*/
-
 void HLComms::receive_demands(const std_msgs::Float32MultiArray &demands_array) {
     struct demands_struct _protected_input;
     recv_mutex.lock();
@@ -90,7 +66,6 @@
         _protected_input.psi_mm[i] = (double)demands_array.data[i];
         //_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];