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Remove debug topics #25

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merged 2 commits into from
May 6, 2017
Merged

Remove debug topics #25

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4fe5c3d
Remove debug topics
jim-v May 6, 2017
9b565cd
Remove tests of debug registers
jim-v May 6, 2017
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21 changes: 0 additions & 21 deletions include/ubiquity_motor/motor_hardware.h
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Original file line number Diff line number Diff line change
Expand Up @@ -89,27 +89,6 @@ class MotorHardware : public hardware_interface::RobotHW {
ros::Publisher leftError;
ros::Publisher rightError;

ros::Publisher pubU50;
ros::Publisher pubS50;
ros::Publisher pubU51;
ros::Publisher pubS51;
ros::Publisher pubU52;
ros::Publisher pubS52;
ros::Publisher pubU53;
ros::Publisher pubS53;
ros::Publisher pubU54;
ros::Publisher pubS54;
ros::Publisher pubU55;
ros::Publisher pubS55;
ros::Publisher pubU56;
ros::Publisher pubS56;
ros::Publisher pubU57;
ros::Publisher pubS57;
ros::Publisher pubU58;
ros::Publisher pubS58;
ros::Publisher pubU59;
ros::Publisher pubS59;

MotorSerial* motor_serial_;

FRIEND_TEST(MotorHardwareTests, nonZeroWriteSpeedsOutputs);
Expand Down
69 changes: 2 additions & 67 deletions src/motor_hardware.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -68,27 +68,6 @@ MotorHardware::MotorHardware(ros::NodeHandle nh, CommsParams serial_params,
leftError = nh.advertise<std_msgs::Int32>("left_error", 1);
rightError = nh.advertise<std_msgs::Int32>("right_error", 1);

pubU50 = nh.advertise<std_msgs::UInt32>("u50", 1);
pubS50 = nh.advertise<std_msgs::Int32>("s50", 1);
pubU51 = nh.advertise<std_msgs::UInt32>("u51", 1);
pubS51 = nh.advertise<std_msgs::Int32>("s51", 1);
pubU52 = nh.advertise<std_msgs::UInt32>("u52", 1);
pubS52 = nh.advertise<std_msgs::Int32>("s52", 1);
pubU53 = nh.advertise<std_msgs::UInt32>("u53", 1);
pubS53 = nh.advertise<std_msgs::Int32>("s53", 1);
pubU54 = nh.advertise<std_msgs::UInt32>("u54", 1);
pubS54 = nh.advertise<std_msgs::Int32>("s54", 1);
pubU55 = nh.advertise<std_msgs::UInt32>("u55", 1);
pubS55 = nh.advertise<std_msgs::Int32>("s55", 1);
pubU56 = nh.advertise<std_msgs::UInt32>("u56", 1);
pubS56 = nh.advertise<std_msgs::Int32>("s56", 1);
pubU57 = nh.advertise<std_msgs::UInt32>("u57", 1);
pubS57 = nh.advertise<std_msgs::Int32>("s57", 1);
pubU58 = nh.advertise<std_msgs::UInt32>("u58", 1);
pubS58 = nh.advertise<std_msgs::Int32>("s58", 1);
pubU59 = nh.advertise<std_msgs::UInt32>("u59", 1);
pubS59 = nh.advertise<std_msgs::Int32>("s59", 1);

sendPid_count = 0;

pid_params = firmware_params;
Expand Down Expand Up @@ -164,50 +143,7 @@ void MotorHardware::readInputs() {
break;
}
default:
uint8_t reg = mm.getRegister();
int32_t data = mm.getData();
std_msgs::UInt32 umsg;
std_msgs::Int32 smsg;
umsg.data = data;
smsg.data = data;
switch (reg) {
case 0x50:
pubU50.publish(umsg);
pubS50.publish(smsg);
break;
case 0x51:
pubU51.publish(umsg);
pubS51.publish(smsg);
break;
case 0x52:
pubU52.publish(umsg);
pubS52.publish(smsg);
break;
case 0x53:
pubU53.publish(umsg);
pubS53.publish(smsg);
break;
case 0x54:
pubU54.publish(umsg);
pubS54.publish(smsg);
break;
case 0x55:
pubU55.publish(umsg);
pubS55.publish(smsg);
break;
case 0x56:
pubU56.publish(umsg);
pubS56.publish(smsg);
break;
case 0x57:
pubU57.publish(umsg);
pubS57.publish(smsg);
break;
case 0x58:
pubU58.publish(umsg);
pubS58.publish(smsg);
break;
}
break;
}
}
}
Expand All @@ -226,7 +162,6 @@ void MotorHardware::writeSpeeds() {

std_msgs::Int32 smsg;
smsg.data = left_tics;
pubS59.publish(smsg);

motor_serial_->transmitCommand(both);

Expand Down Expand Up @@ -363,4 +298,4 @@ int16_t MotorHardware::calculateTicsFromRadians(double radians) const {

double MotorHardware::calculateRadiansFromTics(int16_t tics) const {
return (tics * VELOCITY_READ_PER_SECOND / QTICS_PER_RADIAN);
}
}