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saved work on timeout

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This commit is contained in:
Ruixiang Du
2020-09-15 11:03:49 +08:00
parent a872dd0e0e
commit 02d5a9ed54
2 changed files with 3 additions and 3 deletions
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4
src/platforms/mobile_base.cpp
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@@ -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();