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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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2
apps/scout_demo/scout_demo.cpp
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@@ -98,7 +98,7 @@ int main(int argc, char **argv) {
// scout.SetLightCommand({ScoutLightCmd::LightMode::BREATH, 0, // scout.SetLightCommand({ScoutLightCmd::LightMode::BREATH, 0,
// ScoutLightCmd::LightMode::BREATH, 0}); // ScoutLightCmd::LightMode::BREATH, 0});
// } // }
if (count < 250) { if (count < 100) {
std::cout << "Motor: 0.2, 0" << std::endl; std::cout << "Motor: 0.2, 0" << std::endl;
scout.SetMotionCommand(0.2, 0.0); scout.SetMotionCommand(0.2, 0.0);
} }

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); timeout_iter_num = static_cast<uint32_t>(timeout_ms_ / period_ms);
std::cout << "Timeout iteration number: " << timeout_iter_num << std::endl; std::cout << "Timeout iteration number: " << timeout_iter_num << std::endl;
} }
while (true) { while (true) {
ctrl_sw.tic(); ctrl_sw.tic();
if (enable_timeout_) { if (enable_timeout_) {
@@ -82,7 +82,7 @@ void MobileBase::ControlLoop(int32_t period_ms) {
SendRobotCmd(); SendRobotCmd();
++watchdog_counter_; ++watchdog_counter_;
} else { } 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 { } else {
SendRobotCmd(); SendRobotCmd();