From 02d5a9ed542817350b7ad29ad79163245427e6f0 Mon Sep 17 00:00:00 2001
From: Ruixiang Du <ruixiang.du@westonrobot.com>
Date: Tue, 15 Sep 2020 11:03:49 +0800
Subject: [PATCH] saved work on timeout

---
 apps/scout_demo/scout_demo.cpp | 2 +-
 src/platforms/mobile_base.cpp  | 4 ++--
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/apps/scout_demo/scout_demo.cpp b/apps/scout_demo/scout_demo.cpp
index 2c96f8c..38a1c5f 100644
--- a/apps/scout_demo/scout_demo.cpp
+++ b/apps/scout_demo/scout_demo.cpp
@@ -98,7 +98,7 @@ int main(int argc, char **argv) {
     //     scout.SetLightCommand({ScoutLightCmd::LightMode::BREATH, 0,
     //     ScoutLightCmd::LightMode::BREATH, 0});
     // }
-    if (count < 250) {
+    if (count < 100) {
       std::cout << "Motor: 0.2, 0" << std::endl;
       scout.SetMotionCommand(0.2, 0.0);
     }
diff --git a/src/platforms/mobile_base.cpp b/src/platforms/mobile_base.cpp
index c484b87..9cca69e 100644
--- a/src/platforms/mobile_base.cpp
+++ b/src/platforms/mobile_base.cpp
@@ -74,7 +74,7 @@ void MobileBase::ControlLoop(int32_t period_ms) {
     timeout_iter_num = static_cast<uint32_t>(timeout_ms_ / period_ms);
     std::cout << "Timeout iteration number: " << timeout_iter_num << std::endl;
   }
-  
+
   while (true) {
     ctrl_sw.tic();
     if (enable_timeout_) {
@@ -82,7 +82,7 @@ void MobileBase::ControlLoop(int32_t period_ms) {
         SendRobotCmd();
         ++watchdog_counter_;
       } else {
-        std::cout << "Warning: cmd timeout, not sent to robot" << std::endl;
+        std::cout << "Warning: cmd timeout, old cmd not sent to robot" << std::endl;
       }
     } else {
       SendRobotCmd();