From 17d6a44e3ea04e9009afc86f7534c74ed01b70a8 Mon Sep 17 00:00:00 2001 From: Patrick Goebel Date: Tue, 12 Apr 2016 06:28:00 -0700 Subject: [PATCH] Removed print statement from update_pid() function --- .../src/ros_arduino_python/arduino_driver.py | 7 +++---- 1 file changed, 3 insertions(+), 4 deletions(-) diff --git a/ros_arduino_python/src/ros_arduino_python/arduino_driver.py b/ros_arduino_python/src/ros_arduino_python/arduino_driver.py index a9bd44f..70b52b2 100755 --- a/ros_arduino_python/src/ros_arduino_python/arduino_driver.py +++ b/ros_arduino_python/src/ros_arduino_python/arduino_driver.py @@ -129,7 +129,6 @@ class Arduino: def update_pid(self, Kp, Kd, Ki, Ko): ''' Set the PID parameters on the Arduino ''' - print "Updating PID parameters" cmd = 'u ' + str(Kp) + ':' + str(Kd) + ':' + str(Ki) + ':' + str(Ko) self.execute_ack(cmd) @@ -158,11 +157,11 @@ class Arduino: ''' IMU data is assumed to be returned in the following order: - [ax, ay, az, gx, gy, gz, mx, my, mz, roll, pitch, uh] + [ax, ay, az, gx, gy, gz, mx, my, mz, roll, pitch, ch] where a stands for accelerometer, g for gyroscope and m for magnetometer. - The last value uh stands for "unified heading" that some IMU's compute - from both gyroscope and compass data. + The last value ch stands for "compensated heading" that some IMU's can + compute to compensate magnetic heading from the current roll and pitch. ''' values = self.execute_array('i')