Commit 7ed019d0 authored by Demo User's avatar Demo User
Browse files

fixed drive_simple

parent a1cbf98c
...@@ -11,3 +11,8 @@ java/rob550.jar ...@@ -11,3 +11,8 @@ java/rob550.jar
java/src/* java/src/*
optitrack/common/lib/libcommon.a optitrack/common/lib/libcommon.a
python/lcmtypes/* python/lcmtypes/*
.DS_Store
.vscode-server
.ssh
.nano
.cmake
...@@ -37,18 +37,6 @@ int mot_r_pol; ...@@ -37,18 +37,6 @@ int mot_r_pol;
int enc_l_pol; int enc_l_pol;
int enc_r_pol; int enc_r_pol;
// printed if some invalid argument was given
static void __print_usage(void)
{
printf("\n");
printf("-l {pol} polarity of left motor (-1 or 1)\n");
printf("-r {pol} polarity of right motor (-1 or 1)\n");
printf("-le {pol} polarity of left encoder (-1 or 1)\n");
printf("-re {pol} polarity of right encoder (-1 or 1)\n");
printf("-h print this help message\n");
printf("\n");
}
/******************************************************************************* /*******************************************************************************
* int main() * int main()
* *
...@@ -66,10 +54,10 @@ int main(int argc, char *argv[]){ ...@@ -66,10 +54,10 @@ int main(int argc, char *argv[]){
enc_l_pol = atoi(argv[3]); enc_l_pol = atoi(argv[3]);
enc_r_pol = atoi(argv[4]); enc_r_pol = atoi(argv[4]);
if( (mot_l_pol != 1)&(mot_l_pol != -1) | if( ((mot_l_pol != 1)&(mot_l_pol != -1)) |
(mot_r_pol != 1)&(mot_r_pol != -1) | ((mot_r_pol != 1)&(mot_r_pol != -1)) |
(enc_l_pol != 1)&(enc_l_pol != -1) | ((enc_l_pol != 1)&(enc_l_pol != -1)) |
(enc_r_pol != 1)&(enc_r_pol != -1)){ ((enc_r_pol != 1)&(enc_r_pol != -1))){
printf("Usage: polarities must be -1 or 1"); printf("Usage: polarities must be -1 or 1");
return 0; return 0;
} }
...@@ -118,7 +106,6 @@ int main(int argc, char *argv[]){ ...@@ -118,7 +106,6 @@ int main(int argc, char *argv[]){
rc_motor_set(2,0.0); rc_motor_set(2,0.0);
printf("timeout...\r"); printf("timeout...\r");
} }
printf()
// define a timeout (for erroring out) and the delay time // define a timeout (for erroring out) and the delay time
lcm_handle_timeout(lcm, 1); lcm_handle_timeout(lcm, 1);
rc_nanosleep(1E9 / 100); //handle at 10Hz rc_nanosleep(1E9 / 100); //handle at 10Hz
......
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