Removed the printf's functins used for debugging.

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)