Diff: initExoVars.cpp

Revision:

3:e910d4eb3a36

Parent:

2:650a015179b9

Child:

4:bd8994714003

--- a/initExoVars.cpp	Thu Jun 25 22:56:53 2015 +0000
+++ b/initExoVars.cpp	Fri Jun 26 00:11:48 2015 +0000
@@ -135,7 +135,7 @@
 MMFTG ftgSwing;
 MMFTG ftgStance;
 
-void readCalib()
+/*void readCalib()
 {
     char A[10];
     LocalFileSystem local("local");               // Create the local filesystem under the name "local"
@@ -144,29 +144,25 @@
     fscanf(set,"%s %f",A,&zero_enc_offset_R); // read offset
     fclose(set);
     wait(1); //TODO(Cashdollar): reduce this time after testing
-    pc.printf("Left Offset is: %f, Right Offset is: %f\r\n", zero_enc_offset_L, zero_enc_offset_R);//, zero_enc_offset_R);
-    wait(5); //TODO(Cashdollar): Delete after testing, this is to make it easier to see what is happening
-    //const float zero_ang_L=zero_enc_offset_L+stand_adjust;
-    //const float zero_ang_R=zero_enc_offset_R+stand_adjust;
-}
+    pc.printf("\r\nLeft Offset is: %f, \r\nRight Offset is: %f\r\n", zero_enc_offset_L, zero_enc_offset_R);//, zero_enc_offset_R);
+    wait(1); //TODO(Cashdollar): Delete after testing, this is to make it easier to see what is happening
+}*/
 
 void initializeExoIOs()
 {
 
     // Putting various comm pins high
     DB_cs = 1; // Setting SPI CS pin high (so low selects the slave)
-
     pc.baud(921600);
-    pc.printf("starting to read");
-    readCalib();
-    pc.printf("done reading");
+    //pc.baud(921600);
+    //readCalib();
     zero_ang_L=zero_enc_offset_L+stand_adjust;
     zero_ang_R=zero_enc_offset_R+stand_adjust;
 
     // initialize both knees
     knee_L.init();
     knee_R.init();
-//Setting pwm frequencies to 20kHz
+    //Setting pwm frequencies to 20kHz
 
     hip_L.off();
     hip_R.off();