Diff: quadCommand/quadCommand.cpp

Revision:

52:24590a45b807

Parent:

51:60258b84ebab

Child:

53:cce34958f952

--- a/quadCommand/quadCommand.cpp	Mon Jun 10 05:57:47 2013 +0000
+++ b/quadCommand/quadCommand.cpp	Tue Jun 11 01:24:31 2013 +0000
@@ -78,18 +78,18 @@
     roll = pidRoll.correct(currentRoll, targetRoll, MOTOR_UPDATE);
     yaw = 0.0; //pidYaw.correct(currentYaw, targetYaw, MOTOR_UPDATE);
     
-    DEBUG(pc.printf("\r\n----------------------------------------\r\n");)
-    DEBUG(pc.printf("cur : { t : %f, p : %f, r : %f, y : %f }\r\n", currentThrottle, currentPitch, currentRoll, 0.0);)
-    DEBUG(pc.printf("tar : { t : %f, p : %f, r : %f, y : %f }\r\n", targetThrottle, targetPitch, targetRoll, 0.0);)
-    DEBUG(pc.printf("att : { t : %f, p : %f, r : %f, y : %f }\r\n", throttle, pitch, roll, yaw);)
-    DEBUG(pc.printf("\r\n----------------------------------------\r\n");)
+    //DEBUG(pc.printf("\r\n----------------------------------------\r\n");)
+    //DEBUG(pc.printf("cur : { t : %f, p : %f, r : %f, y : %f }\r\n", currentThrottle, currentPitch, currentRoll, 0.0);)
+    //DEBUG(pc.printf("tar : { t : %f, p : %f, r : %f, y : %f }\r\n", targetThrottle, targetPitch, targetRoll, 0.0);)
+    //DEBUG(pc.printf("att : { t : %f, p : %f, r : %f, y : %f }\r\n", throttle, pitch, roll, yaw);)
+    //DEBUG(pc.printf("\r\n----------------------------------------\r\n");)
 
     float speed0 = throttle + pitch - roll - yaw;
     float speed1 = throttle + pitch + roll + yaw;
     float speed2 = throttle - pitch + roll - yaw;
     float speed3 = throttle - pitch - roll + yaw;
     
-    DEBUG(pc.printf("motor : [ %f , %f , %f , %f ]\r\n", speed0, speed1, speed2, speed3);)
+    //DEBUG(pc.printf("motor : [ %f , %f , %f , %f ]\r\n", speed0, speed1, speed2, speed3);)
     
     myMotors[ 0 ]->setSpeed(speed0);    // Motor 1
     myMotors[ 1 ]->setSpeed(speed1);    // Motor 2