Fixing LED error report, removing comments

luxonis · Oct 18, 2023 · e3dcf1f · e3dcf1f
1 parent 8e4a8a1
commit e3dcf1f
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Showing 4 changed files with 5 additions and 7 deletions.
diff --git a/rae_bringup/scripts/battery_status.py b/rae_bringup/scripts/battery_status.py
@@ -95,7 +95,7 @@ def listener_callback(self, msg):
         led_msg = LEDControl()
         led_msg.header.stamp = self.get_clock().now().to_msg()
         led_msg.data = [ColorRGBA(r=0.0, g=0.0, b=0.0, a=0.0)]*40
-        for i in range(40):
+        for i in range(39):
             led_msg.single_led_n = 0
             led_msg.control_type = 2  # assuming 0 means "set color"
 

diff --git a/rae_bringup/scripts/led_test.py b/rae_bringup/scripts/led_test.py
@@ -44,7 +44,7 @@ def listener_callback(self, msg):
         led_msg = LEDControl()
         led_msg.header.stamp = self.get_clock().now().to_msg()
         led_msg.data = [ColorRGBA(r=0.0, g=0.0, b=0.0, a=0.0)]*40
-        for i in range(40):
+        for i in range(39):
             led_msg.single_led_n = 0
             led_msg.control_type = 2 
             if i < 8:

diff --git a/rae_hw/include/rae_hw/peripherals/led.hpp b/rae_hw/include/rae_hw/peripherals/led.hpp
@@ -17,7 +17,7 @@
 #include "rae_msgs/msg/led_control.hpp"
 
 #define ARRAY_SIZE(a) (sizeof(a) / sizeof((a)[0]))
-#define WS2812B_NUM_LEDS 40
+#define WS2812B_NUM_LEDS 39
 #define WS2812B_RESET_PULSE 60
 #define WS2812B_BUFFER_SIZE (WS2812B_NUM_LEDS * 24 + WS2812B_RESET_PULSE)
 

diff --git a/rae_hw/src/rae_motors.cpp b/rae_hw/src/rae_motors.cpp
@@ -56,8 +56,8 @@ namespace rae_hw
 
     float RaeMotor::calcSpeed()
     {
-        // while (_running)
-        // {
+
+        // Get current position and time different and caluclate the speed
             auto currTime = std::chrono::high_resolution_clock::now();
             float currPos = getPos();
             float timeDiff = std::chrono::duration<float>(currTime - prevVelTime).count();
@@ -67,8 +67,6 @@ namespace rae_hw
             }
             prevVelTime = currTime;
             prevPos = currPos;
-            // std::this_thread::sleep_for(10ms);
-        //}
             return currentSpeed;
     }