Diff: orion_main.cpp

Revision:

28:39d694b0e998

Parent:

27:2db168d9fb18

Child:

29:a6a812ee83ea

--- a/orion_main.cpp	Thu Mar 15 10:14:47 2018 +0000
+++ b/orion_main.cpp	Mon Mar 19 04:06:32 2018 +0000
@@ -204,7 +204,7 @@
 
     
        
-    xshut1 = 0;
+/*    xshut1 = 0;
     xshut2 = 0;
     xshut3 = 0;
     xshut4 = 0;
@@ -276,7 +276,7 @@
     sensor5.startContinuous();     
     //** start Ranging funtion as Thread **
     Thread Ranging_function(ranging_thread, NULL, osPriorityNormal);
-    Debug.printf("* Ranging routine started *\n");      
+    Debug.printf("* Ranging routine started *\n"); */     
     
     
 
@@ -547,18 +547,18 @@
         Debug.printf("Calib Status : %d, %d \n\e[K", imu.imu_stabilized[0], imu.imu_stabilized[1]);
         Debug.printf("Calib Status (M-A-G-S-O): (%d , %d , %d , %d , %d)\n\e[K", imu.calib_stat[0], imu.calib_stat[1], imu.calib_stat[2], imu.calib_stat[3], imu.calib_stat[4]);
 
-        //Debug.printf("Battery Status: %3.2f%%, %1.2fV\n\e[K", battery.getSOC(), battery.getVcell());
+//        Debug.printf("Battery Status: %3.2f%%, %1.2fV\n\e[K", battery.getSOC(), battery.getVcell());
         Debug.printf("Waypoint Tracking: waypointReached %d, waypointSetFinish %d waypointIndex %d\n\e[K", waypointReached_flag, waypointSetFinish_flag, waypoint_index);
         Debug.printf("Waypoint Tracking: distanceToWaypoint %.1f, BearingToWaypoint %.4f \n\e[K", purePursuit.robotFrame_targetDistance, bearingToWaypoint);
         Debug.printf("Waypoint Tracking: Rotate %.3f, Change in Speed %.3f, k3 %.3f \n\e[K", aError, speedChange, k3);
         Debug.printf("Waypoint being tracked (X,Y): %.2f, %.2f\n\e[K", target_waypoint[0], target_waypoint[1]);
-        Debug.printf("Ranging: %u, %u, %u, %u, %u \n\e[K", RangeSensor.exleft, RangeSensor.left, RangeSensor.front, RangeSensor.right, RangeSensor.exright);
+//        Debug.printf("Ranging: %u, %u, %u, %u, %u \n\e[K", RangeSensor.exleft, RangeSensor.left, RangeSensor.front, RangeSensor.right, RangeSensor.exright);
 
 
         Debug.printf("Compensated RPM (L,R): %.1f, %.1f\n\e[K", rpm_compensated[0], rpm_compensated[1]);
         //Debug.printf("Computed PWM (L,R): %.1f, %.1f\n\e[K", pwm_cmd[0]*100.0, pwm_cmd[1]*100.0);
         Debug.printf("Measured RPM (L,R): %.1f, %.1f\n\e[K", odometry.rpm[0], odometry.rpm[1]);
-        //Debug.printf("Measured Revolutions (L,R): %.1f, %.1f\n\e[K", odometry.revolutions[0], odometry.revolutions[1]);
+        Debug.printf("Measured Revolutions (L,R): %.1f, %.1f\n\e[K", odometry.revolutions[0], odometry.revolutions[1]);
 
         //Debug.printf("PID_L: P %0.3f, I %0.3f, D %0.3f, Ff %0.3f, Summ %0.3f\n\e[K", PID_L.PIDFf_terms[0], PID_L.PIDFf_terms[1], PID_L.PIDFf_terms[2], PID_L.PIDFf_terms[3], PID_L.Summ_term);
         //Debug.printf("PID_R: P %0.3f, I %0.3f, D %0.3f, Ff %0.3f, Summ %0.3f\n\e[K", PID_R.PIDFf_terms[0], PID_R.PIDFf_terms[1], PID_R.PIDFf_terms[2], PID_R.PIDFf_terms[3], PID_R.Summ_term);