From 787cde6e330edbd489ff878bd9acc69ffd6a2851 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Sergi=20Hern=C3=A0ndez=20Juan?= <shernand@iri.upc.edu>
Date: Sun, 27 Aug 2017 23:22:31 +0200
Subject: [PATCH] Removed the printf's functins used for debugging.
---
src/stairs.c | 5 -----
1 file changed, 5 deletions(-)
diff --git a/src/stairs.c b/src/stairs.c
index dd9668f..22ac2e4 100755
--- a/src/stairs.c
+++ b/src/stairs.c
@@ -2,7 +2,6 @@
#include "darwin_kinematics.h"
#include "darwin_math.h"
#include "ram.h"
-#include <stdio.h>
#include <math.h>
typedef enum {SHIFT_WEIGHT_LEFT=0x10,RISE_RIGHT_FOOT=0x20,ADVANCE_RIGHT_FOOT=0x30,CONTACT_RIGHT_FOOT=0x40,SHIFT_WEIGHT_RIGHT=0x50,RISE_LEFT_FOOT=0x60,ADVANCE_LEFT_FOOT=0x70,CONTACT_LEFT_FOOT=0x80,CENTER_WEIGHT=0x90} stairs_phase_t;
@@ -289,7 +288,6 @@ void stairs_process(void)
ram_data[DARWIN_STAIRS_CNTRL]&=(~STAIRS_STATUS);
stairs_Ctrl_Running=0x00;
}
- printf("%x,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f\n",ram_data[DARWIN_STAIRS_CNTRL]&STAIRS_PHASE,ep[0],ep[1],ep[2],ep[3],ep[4],ep[5],ep[6],ep[7],ep[8],ep[9],ep[10],ep[11]);
if(ram_data[DARWIN_STAIRS_CNTRL]&STAIRS_STATUS)
stairs_Time += stairs_period;
@@ -299,10 +297,7 @@ void stairs_process(void)
// Compute angles with the inverse kinematics
if((darwin_leg_ik(&angle[0],ep[0],ep[1],ep[2],ep[3],ep[4],ep[5])!=1) ||
(darwin_leg_ik(&angle[6],ep[6],ep[7],ep[8],ep[9],ep[10],ep[11])!=1))
- {
- printf("Impossible to find inverse kinematics solution\n");
return;// Do not use angles
- }
// Compute motor value
if(manager_get_module(R_HIP_YAW)==MM_WALKING)
--
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