RSDK-4902: FIX (viamrobotics#2965)

maximpertsov · Sep 21, 2023 · 2416c83 · 2416c83
1 parent b69664e
commit 2416c83
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Showing 2 changed files with 6 additions and 9 deletions.
diff --git a/components/motor/gpio/motor_encoder.go b/components/motor/gpio/motor_encoder.go
@@ -127,8 +127,6 @@ func newEncodedMotor(
 		em.maxPowerPct = 1.0
 	}
 
-	rpmDebug = motorConfig.Debug
-
 	return em, nil
 }
 
@@ -270,10 +268,10 @@ func (m *EncodedMotor) makeAdjustments(pos, lastPos float64, now, lastTime int64
 	}
 
 	if rpmDebug {
-		m.logger.Debug("making adjustments")
-		m.logger.Debugf("lastPos: %v, pos: %v, goalPos: %v", lastPos, pos, m.state.goalPos)
-		m.logger.Debugf("lastTime: %v, now: %v", lastTime, now)
-		m.logger.Debugf("currentRPM: %v, goalRPM: %v", m.state.currentRPM, m.state.goalRPM)
+		m.logger.Info("making adjustments")
+		m.logger.Infof("lastPos: %v, pos: %v, goalPos: %v", lastPos, pos, m.state.goalPos)
+		m.logger.Infof("lastTime: %v, now: %v", lastTime, now)
+		m.logger.Infof("currentRPM: %v, goalRPM: %v", m.state.currentRPM, m.state.goalRPM)
 	}
 
 	dir := m.directionMovingInLock()
@@ -284,7 +282,7 @@ func (m *EncodedMotor) makeAdjustments(pos, lastPos float64, now, lastTime int64
 			powerPct = m.state.lastPowerPct
 		}
 		if rpmDebug {
-			m.logger.Debugf("decreasing powerPct to %v", powerPct)
+			m.logger.Infof("decreasing powerPct to %v", powerPct)
 		}
 		if err := m.setPower(m.cancelCtx, powerPct, true); err != nil {
 			return err
@@ -296,7 +294,7 @@ func (m *EncodedMotor) makeAdjustments(pos, lastPos float64, now, lastTime int64
 			powerPct = m.state.lastPowerPct
 		}
 		if rpmDebug {
-			m.logger.Debugf("increasing powerPct to %v", powerPct)
+			m.logger.Infof("increasing powerPct to %v", powerPct)
 		}
 		if err := m.setPower(m.cancelCtx, powerPct, true); err != nil {
 			return err

diff --git a/components/motor/gpio/setup.go b/components/motor/gpio/setup.go
@@ -39,7 +39,6 @@ type Config struct {
 	RampRate         float64        `json:"ramp_rate_rpm_per_sec,omitempty"` // how fast to ramp power to motor when using rpm control
 	MaxRPM           float64        `json:"max_rpm,omitempty"`
 	TicksPerRotation int            `json:"ticks_per_rotation,omitempty"`
-	Debug            bool           `json:"rpm_debug,omitempty"`
 }
 
 // Validate ensures all parts of the config are valid.