Diff: main.cpp

Revision:

29:43056f5cd0db

Parent:

28:edb5e3770ae1

Child:

30:3cfa8d7f84de

--- a/main.cpp	Wed May 30 03:56:26 2018 +0000
+++ b/main.cpp	Fri Jun 01 01:54:04 2018 +0000
@@ -257,8 +257,8 @@
 //    debugprint.printf("* Communications loop started *\n");
     
 //*        ** start debug print loop as a thread **
-//    Thread PrintLoop_function(print_thread, NULL, osPriorityNormal, 1024);
-//    debugprint.printf("* Print loop started *\n\n\n");
+    Thread PrintLoop_function(print_thread, NULL, osPriorityNormal, 1024);
+    debugprint.printf("* Print loop started *\n\n\n");
 
 //    Thread GetLoop_function(get_thread,NULL,osPriorityNormal, 1024);
 //    debugprint.printf("* Get loop started *\n\n\n");
@@ -757,7 +757,7 @@
                                 //Rasp.printf("%s \n", angular);
                                 
                                 
-                                purePursuit_velocity = strtol(linear,NULL,10);  //convert string to int
+                                purePursuit_velocity = strtol(linear,NULL,10);  //convert string to int linear in mm
                                 gamma_deg = strtol(angular,NULL,10);
                                 purePursuit_gamma = DEG_TO_RAD(gamma_deg);
                                 //Rasp.printf("%.2f \n", purePursuit_velocity);
@@ -825,10 +825,10 @@
         break;
         }
     }
-    debugprint.printf("Running uwb %s \n",uwb_data);
+ //   debugprint.printf("Running uwb %s \n",uwb_data);
 //    debugprint.printf("%.2f Running 5 uwb update \n",imuTime);
     uwbtriangulation_fn(uwb_data); // Running Triateration (The function nam is misleading)
-    debugprint.printf("UWB ranging: %d %d %d \n", trilateration.range_array[0],trilateration.range_array[1],trilateration.range_array[2]);
+//    debugprint.printf("UWB ranging: %d %d %d \n", trilateration.range_array[0],trilateration.range_array[1],trilateration.range_array[2]);
 //    ekf_fn(&ekf); //run ekf
 //    debugprint.printf("%s",uwb_data);
     for (int j = 0; j< sizeof(uwb_data); j++) {