From 5f0125da8b1e1551b2b0b7227c33af7963ba0cd1 Mon Sep 17 00:00:00 2001
From: Patrick Goebel <patrick@pirobot.org>
Date: Mon, 7 Dec 2015 06:44:50 -0800
Subject: [PATCH] Fixed some indentation

---
 .../ROSArduinoBridge/ROSArduinoBridge.ino     | 84 +++++++++----------
 1 file changed, 42 insertions(+), 42 deletions(-)

diff --git a/ros_arduino_firmware/src/libraries/ROSArduinoBridge/ROSArduinoBridge.ino b/ros_arduino_firmware/src/libraries/ROSArduinoBridge/ROSArduinoBridge.ino
index 5de3726..18bfc22 100644
--- a/ros_arduino_firmware/src/libraries/ROSArduinoBridge/ROSArduinoBridge.ino
+++ b/ros_arduino_firmware/src/libraries/ROSArduinoBridge/ROSArduinoBridge.ino
@@ -237,34 +237,34 @@ int runCommand() {
 void setup() {
   Serial.begin(BAUDRATE);
 
-// Initialize the motor controller if used */
-#ifdef USE_BASE
-  #ifdef ARDUINO_ENC_COUNTER
-    //set as inputs
-    DDRD &= ~(1<<LEFT_ENC_PIN_A);
-    DDRD &= ~(1<<LEFT_ENC_PIN_B);
-    DDRC &= ~(1<<RIGHT_ENC_PIN_A);
-    DDRC &= ~(1<<RIGHT_ENC_PIN_B);
+  // Initialize the motor controller if used */
+  #ifdef USE_BASE
+    #ifdef ARDUINO_ENC_COUNTER
+      //set as inputs
+      DDRD &= ~(1<<LEFT_ENC_PIN_A);
+      DDRD &= ~(1<<LEFT_ENC_PIN_B);
+      DDRC &= ~(1<<RIGHT_ENC_PIN_A);
+      DDRC &= ~(1<<RIGHT_ENC_PIN_B);
     
-    //enable pull up resistors
-    PORTD |= (1<<LEFT_ENC_PIN_A);
-    PORTD |= (1<<LEFT_ENC_PIN_B);
-    PORTC |= (1<<RIGHT_ENC_PIN_A);
-    PORTC |= (1<<RIGHT_ENC_PIN_B);
+      // Enable pull up resistors
+      PORTD |= (1<<LEFT_ENC_PIN_A);
+      PORTD |= (1<<LEFT_ENC_PIN_B);
+      PORTC |= (1<<RIGHT_ENC_PIN_A);
+      PORTC |= (1<<RIGHT_ENC_PIN_B);
     
-    // tell pin change mask to listen to left encoder pins
-    PCMSK2 |= (1 << LEFT_ENC_PIN_A)|(1 << LEFT_ENC_PIN_B);
-    // tell pin change mask to listen to right encoder pins
-    PCMSK1 |= (1 << RIGHT_ENC_PIN_A)|(1 << RIGHT_ENC_PIN_B);
+      // Tell pin change mask to listen to left encoder pins
+      PCMSK2 |= (1 << LEFT_ENC_PIN_A)|(1 << LEFT_ENC_PIN_B);
+      // Tell pin change mask to listen to right encoder pins
+      PCMSK1 |= (1 << RIGHT_ENC_PIN_A)|(1 << RIGHT_ENC_PIN_B);
     
-    // enable PCINT1 and PCINT2 interrupt in the general interrupt mask
-    PCICR |= (1 << PCIE1) | (1 << PCIE2);
+      // Enable PCINT1 and PCINT2 interrupt in the general interrupt mask
+      PCICR |= (1 << PCIE1) | (1 << PCIE2);
+    #endif
+    initMotorController();
+    resetPID();
   #endif
-  initMotorController();
-  resetPID();
-#endif
 
-/* Attach servos if used */
+  /* Attach servos if used */
   #ifdef USE_SERVOS
     int i;
     for (i = 0; i < N_SERVOS; i++) {
@@ -321,26 +321,26 @@ void loop() {
     }
   }
   
-// If we are using base control, run a PID calculation at the appropriate intervals
-#ifdef USE_BASE
-  if (millis() > nextPID) {
-    updatePID();
-    nextPID += PID_INTERVAL;
-  }
+  // If we are using base control, run a PID calculation at the appropriate intervals
+  #ifdef USE_BASE
+    if (millis() > nextPID) {
+      updatePID();
+      nextPID += PID_INTERVAL;
+    }
   
-  // Check to see if we have exceeded the auto-stop interval
-  if ((millis() - lastMotorCommand) > AUTO_STOP_INTERVAL) {;
-    setMotorSpeeds(0, 0);
-    moving = 0;
-  }
-#endif
+    // Check to see if we have exceeded the auto-stop interval
+    if ((millis() - lastMotorCommand) > AUTO_STOP_INTERVAL) {
+      setMotorSpeeds(0, 0);
+      moving = 0;
+    }
+  #endif
 
-// Sweep servos
-#ifdef USE_SERVOS
-  int i;
-  for (i = 0; i < N_SERVOS; i++) {
-    servos[i].doSweep();
-  }
-#endif
+  // Sweep servos
+  #ifdef USE_SERVOS
+    int i;
+    for (i = 0; i < N_SERVOS; i++) {
+      servos[i].doSweep();
+    }
+    #endif
 }