Diff: main.cpp

Revision:

4:b728b0359ec8

Parent:

3:51194773aa7e

Child:

5:52fb31c1a8c0

--- a/main.cpp	Fri Apr 13 06:58:49 2018 +0000
+++ b/main.cpp	Fri Apr 13 07:03:10 2018 +0000
@@ -448,17 +448,13 @@
 //    nh.advertise(pub_lmotor);
 //    nh.advertise(pub_rmotor);
     nh.subscribe(cmd_vel_sub);
-//    SVON(1);
-//    SVON(2);
+    SVON(1);
+    SVON(2);
     flushSerialBuffer();
     RS485.attach(&readData);//,0.25);
     //CheckDataR.attach(&CALL_chDataR,0.25);
     while(1) 
-    { 
-//==================================
-
-//=============================
-    
+    {   
         seq++;
         mpu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
 
@@ -474,10 +470,6 @@
         imu_pub.publish( &imu_msg );
         nh.spinOnce();
         wait_ms(10);
-        //writing current accelerometer and gyro position 
-        //pc.printf("%d;%d;%d;%d;%d;%d\r\n",ax,ay,az,gx,gy,gz);   
-        
-//        RS485.attach(&onInterrupt,Serial::RxIrq);
          
     }
 }
\ No newline at end of file