Cleaning up code

JACart · Apr 18, 2021 · afefca3 · afefca3
1 parent 39def69
commit afefca3
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Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/cart_endpoints/scripts/motor_endpoint.py b/cart_endpoints/scripts/motor_endpoint.py
@@ -87,6 +87,7 @@ def motion_callback(self, planned_vel_angle):
             # reset obstacle distance and brake time
             self.obstacle_distance = -1
             self.brake_time_used = 0
+            self.full_stop_count = 0
 
         if self.vel > 0 and (self.state == STOPPED or self.state == BRAKING) and (time.time()- self.stopping_time) > 10:
             self.state = MOVING
@@ -96,7 +97,7 @@ def motion_callback(self, planned_vel_angle):
             self.state = BRAKING
             self.brake = 0 # ramp up braking from 0
             self.stopping_time = time.time()
-
+            
         self.new_vel = True     
 
     def debug_callback(self, msg):

diff --git a/cart_planning/scripts/local_planner.py b/cart_planning/scripts/local_planner.py
@@ -301,7 +301,6 @@ def update(self, state, a, delta):
         self.steering_pub.publish(display_angle)
 
         # Check if any node wants us to stop
-        print(self.stop_requests)
         for x in self.stop_requests.values():
             if x[0]: # stop requested
                 msg.vel = 0