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Commit ab92ca8

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luis-cameroluis-camero
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Remove commented out code
1 parent d787b73 commit ab92ca8

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-40
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1 file changed

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‎puma_motor_driver/src/driver.cpp

Lines changed: 0 additions & 40 deletions
Original file line numberDiff line numberDiff line change
@@ -73,8 +73,6 @@ void Driver::processMessage(const can_msgs::msg::Frame::SharedPtr received_msg)
7373
// If there's no data then this is a request message, jump out.
7474
if (received_msg->dlc == 0) return;
7575

76-
RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "processMessage: received message!");
77-
7876
Field* field = nullptr;
7977
uint32_t received_api = getApi(*received_msg);
8078
if ((received_api & CAN_MSGID_API_M & CAN_API_MC_CFG) == CAN_API_MC_CFG)
@@ -263,7 +261,6 @@ void Driver::verifyParams()
263261
}
264262
else
265263
{
266-
// interface_->queue(Message(LM_API_STATUS_POWER | device_number_));
267264
sendId(LM_API_STATUS_POWER | device_number_);
268265
}
269266
break;
@@ -276,7 +273,6 @@ void Driver::verifyParams()
276273
}
277274
else
278275
{
279-
// interface_->queue(Message(LM_API_POS_REF | device_number_));
280276
sendId(LM_API_POS_REF | device_number_);
281277
}
282278
break;
@@ -289,7 +285,6 @@ void Driver::verifyParams()
289285
}
290286
else
291287
{
292-
// interface_->queue(Message(LM_API_SPD_REF | device_number_));
293288
sendId(LM_API_SPD_REF | device_number_);
294289
}
295290
break;
@@ -302,9 +297,6 @@ void Driver::verifyParams()
302297
}
303298
else
304299
{
305-
RCLCPP_WARN(rclcpp::get_logger("rclcpp"), "Puma Motor Controller on %s (%i): encoder count not set. Set to %i.",
306-
device_name_.c_str(), device_number_, encoderCounts());
307-
// interface_->queue(Message(LM_API_CFG_ENC_LINES | device_number_));
308300
sendId(LM_API_CFG_ENC_LINES | device_number_);
309301
}
310302
break;
@@ -317,9 +309,6 @@ void Driver::verifyParams()
317309
}
318310
else
319311
{
320-
RCLCPP_WARN(rclcpp::get_logger("rclcpp"), "Puma Motor Controller on %s (%i): not in ClosedLoop mode, in mode: %i",
321-
device_name_.c_str(), device_number_, lastMode());
322-
// interface_->queue(Message(LM_API_STATUS_CMODE | device_number_));
323312
sendId(LM_API_STATUS_CMODE | device_number_);
324313
}
325314
break;
@@ -354,15 +343,12 @@ void Driver::verifyParams()
354343
switch (control_mode_)
355344
{
356345
case clearpath_motor_msgs::msg::PumaStatus::MODE_CURRENT:
357-
// interface_->queue(Message(LM_API_ICTRL_PC | device_number_));
358346
sendId(LM_API_ICTRL_PC | device_number_);
359347
break;
360348
case clearpath_motor_msgs::msg::PumaStatus::MODE_POSITION:
361-
// interface_->queue(Message(LM_API_POS_PC | device_number_));
362349
sendId(LM_API_POS_PC | device_number_);
363350
break;
364351
case clearpath_motor_msgs::msg::PumaStatus::MODE_SPEED:
365-
// interface_->queue(Message(LM_API_SPD_PC | device_number_));
366352
sendId(LM_API_SPD_PC | device_number_);
367353
break;
368354
}
@@ -382,15 +368,12 @@ void Driver::verifyParams()
382368
switch (control_mode_)
383369
{
384370
case clearpath_motor_msgs::msg::PumaStatus::MODE_CURRENT:
385-
// interface_->queue(Message(LM_API_ICTRL_IC | device_number_));
386371
sendId(LM_API_ICTRL_IC | device_number_);
387372
break;
388373
case clearpath_motor_msgs::msg::PumaStatus::MODE_POSITION:
389-
// interface_->queue(Message(LM_API_POS_IC | device_number_));
390374
sendId(LM_API_POS_IC | device_number_);
391375
break;
392376
case clearpath_motor_msgs::msg::PumaStatus::MODE_SPEED:
393-
// interface_->queue(Message(LM_API_SPD_IC | device_number_));
394377
sendId(LM_API_SPD_IC | device_number_);
395378
break;
396379
}
@@ -410,15 +393,12 @@ void Driver::verifyParams()
410393
switch (control_mode_)
411394
{
412395
case clearpath_motor_msgs::msg::PumaStatus::MODE_CURRENT:
413-
// interface_->queue(Message(LM_API_ICTRL_DC | device_number_));
414396
sendId(LM_API_ICTRL_DC | device_number_);
415397
break;
416398
case clearpath_motor_msgs::msg::PumaStatus::MODE_POSITION:
417-
// interface_->queue(Message(LM_API_POS_DC | device_number_));
418399
sendId(LM_API_POS_DC | device_number_);
419400
break;
420401
case clearpath_motor_msgs::msg::PumaStatus::MODE_SPEED:
421-
// interface_->queue(Message(LM_API_SPD_DC | device_number_));
422402
sendId(LM_API_SPD_DC | device_number_);
423403
break;
424404
}
@@ -451,26 +431,21 @@ void Driver::configureParams()
451431
sendUint16((LM_API_CFG_ENC_LINES | device_number_), encoder_cpr_);
452432
break;
453433
case ConfigurationState::ClosedLoop: // Need to enter a close loop mode to record encoder data.
454-
// interface_->queue(Message(LM_API_SPD_EN | device_number_));
455434
sendId(LM_API_SPD_EN | device_number_);
456435
break;
457436
case ConfigurationState::ControlMode:
458437
switch (control_mode_)
459438
{
460439
case clearpath_motor_msgs::msg::PumaStatus::MODE_VOLTAGE:
461-
// interface_->queue(Message(LM_API_VOLT_EN | device_number_));
462440
sendId(LM_API_VOLT_EN | device_number_);
463441
break;
464442
case clearpath_motor_msgs::msg::PumaStatus::MODE_CURRENT:
465-
// interface_->queue(Message(LM_API_ICTRL_EN | device_number_));
466443
sendId(LM_API_ICTRL_EN | device_number_);
467444
break;
468445
case clearpath_motor_msgs::msg::PumaStatus::MODE_POSITION:
469-
// interface_->queue(Message(LM_API_POS_EN | device_number_));
470446
sendId(LM_API_POS_EN | device_number_);
471447
break;
472448
case clearpath_motor_msgs::msg::PumaStatus::MODE_SPEED:
473-
// interface_->queue(Message(LM_API_SPD_EN | device_number_));
474449
sendId(LM_API_SPD_EN | device_number_);
475450
break;
476451
}
@@ -599,17 +574,11 @@ void Driver::clearMsgCache()
599574

600575
void Driver::requestStatusMessages()
601576
{
602-
// interface_->queue(Message(LM_API_STATUS_POWER | device_number_));
603577
sendId(LM_API_STATUS_POWER | device_number_);
604578
}
605579

606580
void Driver::requestFeedbackMessages()
607581
{
608-
// interface_->queue(Message(LM_API_STATUS_VOLTOUT | device_number_));
609-
// interface_->queue(Message(LM_API_STATUS_CURRENT | device_number_));
610-
// interface_->queue(Message(LM_API_STATUS_POS | device_number_));
611-
// interface_->queue(Message(LM_API_STATUS_SPD | device_number_));
612-
// interface_->queue(Message(LM_API_SPD_SET | device_number_));
613582
sendId(LM_API_STATUS_VOLTOUT | device_number_);
614583
sendId(LM_API_STATUS_CURRENT | device_number_);
615584
sendId(LM_API_STATUS_POS | device_number_);
@@ -618,31 +587,26 @@ void Driver::requestFeedbackMessages()
618587
}
619588
void Driver::requestFeedbackDutyCycle()
620589
{
621-
// interface_->queue(Message(LM_API_STATUS_VOLTOUT | device_number_));
622590
sendId(LM_API_STATUS_VOLTOUT | device_number_);
623591
}
624592

625593
void Driver::requestFeedbackCurrent()
626594
{
627-
// interface_->queue(Message(LM_API_STATUS_CURRENT | device_number_));
628595
sendId(LM_API_STATUS_CURRENT | device_number_);
629596
}
630597

631598
void Driver::requestFeedbackPosition()
632599
{
633-
// interface_->queue(Message(LM_API_STATUS_POS | device_number_));
634600
sendId(LM_API_STATUS_POS | device_number_);
635601
}
636602

637603
void Driver::requestFeedbackSpeed()
638604
{
639-
// interface_->queue(Message(LM_API_STATUS_SPD | device_number_));
640605
sendId(LM_API_STATUS_SPD | device_number_);
641606
}
642607

643608
void Driver::requestFeedbackPowerState()
644609
{
645-
// interface_->queue(Message(LM_API_STATUS_POWER | device_number_));
646610
sendId(LM_API_STATUS_POWER | device_number_);
647611
}
648612

@@ -651,19 +615,15 @@ void Driver::requestFeedbackSetpoint()
651615
switch (control_mode_)
652616
{
653617
case clearpath_motor_msgs::msg::PumaStatus::MODE_CURRENT:
654-
// interface_->queue(Message(LM_API_ICTRL_SET | device_number_));
655618
sendId(LM_API_ICTRL_SET | device_number_);
656619
break;
657620
case clearpath_motor_msgs::msg::PumaStatus::MODE_POSITION:
658-
// interface_->queue(Message(LM_API_POS_SET | device_number_));
659621
sendId(LM_API_POS_SET | device_number_);
660622
break;
661623
case clearpath_motor_msgs::msg::PumaStatus::MODE_SPEED:
662-
// interface_->queue(Message(LM_API_SPD_SET | device_number_));
663624
sendId(LM_API_SPD_SET | device_number_);
664625
break;
665626
case clearpath_motor_msgs::msg::PumaStatus::MODE_VOLTAGE:
666-
// interface_->queue(Message(LM_API_VOLT_SET | device_number_));
667627
sendId(LM_API_VOLT_SET | device_number_);
668628
break;
669629
};

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