From 1cc66335f37ff24466a52a18d6321c5e09dd42a1 Mon Sep 17 00:00:00 2001
From: Joan Perez Ibarz <jperez@iri.upc.edu>
Date: Wed, 7 Sep 2011 14:11:05 +0000
Subject: [PATCH] [segway_rmp200] - removing exception throwing for checksum
error
---
src/segway_rmp200.cpp | 6 +++---
1 file changed, 3 insertions(+), 3 deletions(-)
diff --git a/src/segway_rmp200.cpp b/src/segway_rmp200.cpp
index 4b0c484..41af963 100755
--- a/src/segway_rmp200.cpp
+++ b/src/segway_rmp200.cpp
@@ -305,9 +305,10 @@ void CSegwayRMP200::parse_packet(segway_packet *packet)
if(this->compute_checksum(packet)!=packet->data[17])
{
/* handle exceptions */
- throw CSegwayRMP200Exception(_HERE_,"Invalid packet checksum, a transmission error ocurred",this->id);
+// throw CSegwayRMP200Exception(_HERE_,"Invalid packet checksum, a transmission error ocurred",this->id);
+ std::cout << "Invalid packet checksum, a transmission error ocurred" << std::endl;
}
- if(packet->data[2]==0xaa)
+ else if(packet->data[2]==0xaa)
{
this->access_status.enter();
command=(packet->data[4]*256+packet->data[5])/32;
@@ -841,7 +842,6 @@ void CSegwayRMP200::reset(void)
void CSegwayRMP200::move(float vT,float vR)
{
-std::cout << "move::hardware_mode=" << hardware_mode << " vs. mode=" << mode << std::endl;
if(this->mode!=this->hardware_mode)
{
/* handle exceptions */
--
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