yikestone/ros_arduino_bridge
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Fixed some indentation

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This commit is contained in:
Patrick Goebel 2015-12-07 06:44:50 -08:00
parent f37836d4e0
commit 5f0125da8b
1 changed files with 42 additions and 42 deletions
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30
ros_arduino_firmware/src/libraries/ROSArduinoBridge/ROSArduinoBridge.ino
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@ -237,8 +237,8 @@ int runCommand() {
void setup() { void setup() {
Serial.begin(BAUDRATE); Serial.begin(BAUDRATE);
// Initialize the motor controller if used */ // Initialize the motor controller if used */
#ifdef USE_BASE #ifdef USE_BASE
#ifdef ARDUINO_ENC_COUNTER #ifdef ARDUINO_ENC_COUNTER
//set as inputs //set as inputs
DDRD &= ~(1<<LEFT_ENC_PIN_A); DDRD &= ~(1<<LEFT_ENC_PIN_A);
@ -246,25 +246,25 @@ void setup() {
DDRC &= ~(1<<RIGHT_ENC_PIN_A); DDRC &= ~(1<<RIGHT_ENC_PIN_A);
DDRC &= ~(1<<RIGHT_ENC_PIN_B); DDRC &= ~(1<<RIGHT_ENC_PIN_B);
//enable pull up resistors // Enable pull up resistors
PORTD |= (1<<LEFT_ENC_PIN_A); PORTD |= (1<<LEFT_ENC_PIN_A);
PORTD |= (1<<LEFT_ENC_PIN_B); PORTD |= (1<<LEFT_ENC_PIN_B);
PORTC |= (1<<RIGHT_ENC_PIN_A); PORTC |= (1<<RIGHT_ENC_PIN_A);
PORTC |= (1<<RIGHT_ENC_PIN_B); PORTC |= (1<<RIGHT_ENC_PIN_B);
// tell pin change mask to listen to left encoder pins // Tell pin change mask to listen to left encoder pins
PCMSK2 |= (1 << LEFT_ENC_PIN_A)|(1 << LEFT_ENC_PIN_B); PCMSK2 |= (1 << LEFT_ENC_PIN_A)|(1 << LEFT_ENC_PIN_B);
// tell pin change mask to listen to right encoder pins // Tell pin change mask to listen to right encoder pins
PCMSK1 |= (1 << RIGHT_ENC_PIN_A)|(1 << RIGHT_ENC_PIN_B); PCMSK1 |= (1 << RIGHT_ENC_PIN_A)|(1 << RIGHT_ENC_PIN_B);
// enable PCINT1 and PCINT2 interrupt in the general interrupt mask // Enable PCINT1 and PCINT2 interrupt in the general interrupt mask
PCICR |= (1 << PCIE1) | (1 << PCIE2); PCICR |= (1 << PCIE1) | (1 << PCIE2);
#endif #endif
initMotorController(); initMotorController();
resetPID(); resetPID();
#endif #endif
/* Attach servos if used */ /* Attach servos if used */
#ifdef USE_SERVOS #ifdef USE_SERVOS
int i; int i;
for (i = 0; i < N_SERVOS; 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 // If we are using base control, run a PID calculation at the appropriate intervals
#ifdef USE_BASE #ifdef USE_BASE
if (millis() > nextPID) { if (millis() > nextPID) {
updatePID(); updatePID();
nextPID += PID_INTERVAL; nextPID += PID_INTERVAL;
} }
// Check to see if we have exceeded the auto-stop interval // Check to see if we have exceeded the auto-stop interval
if ((millis() - lastMotorCommand) > AUTO_STOP_INTERVAL) {; if ((millis() - lastMotorCommand) > AUTO_STOP_INTERVAL) {
setMotorSpeeds(0, 0); setMotorSpeeds(0, 0);
moving = 0; moving = 0;
} }
#endif #endif
// Sweep servos // Sweep servos
#ifdef USE_SERVOS #ifdef USE_SERVOS
int i; int i;
for (i = 0; i < N_SERVOS; i++) { for (i = 0; i < N_SERVOS; i++) {
servos[i].doSweep(); servos[i].doSweep();
} }
#endif #endif
} }