joyd: removed some old code (used to be commented out)

deleted obsolete CAN_PICKER related actions

diff --git a/src/joyd/joyd.cc b/src/joyd/joyd.cc
index 71b923d1871f86e38f6afe40d2e65a8ce95d3e79..b9fd94dc1e82e01721debd801f55c02f9df3ee58 100644 (file)
--- a/src/joyd/joyd.cc
+++ b/src/joyd/joyd.cc
@@ -60,24 +60,16 @@ static void button_act(char state, int id)
        switch(id) {
                case BT1:
                        if(state) {
-                               //act_chelae(CHELA_LEFT_CLOSE, CHELA_RIGHT_CLOSE);//act ON
-                               //act_picker(CHELA_LEFT_TIGHT, CHELA_RIGHT_TIGHT, BELTS_OUT, BELTS_OUT, CHELA_TIMEOUT);
-                               //printf("Fire button pressed; belt speed set: %d\n", BELTS_OUT);
+                               ;//act ON
                        } else {
-                               //act_chelae(CHELA_LEFT_OPEN, CHELA_RIGHT_OPEN);//act OFF
-                               //act_picker(CHELA_LEFT_TIGHT, CHELA_RIGHT_TIGHT, BELTS_IN, BELTS_IN, 0x1);
-                               //printf("Fire button released; belt speed set: %d\n", BELTS_IN);
+                               ;//act OFF
                        }
                        break;
                case BT2:
                        if(state) {
-                               //act_holder(HOLDER_OPENED);//act ON
-                               //act_picker(CHELA_LEFT_TIGHT, CHELA_RIGHT_TIGHT, BELTS_IN, BELTS_IN, CHELA_TIMEOUT);
-                               //printf("Suck button pressed; belt speed set: %d\n", BELTS_IN);
+                               ;//act ON
                        } else {
-                               //act_holder(HOLDER_CLOSED);//act OFF
-                               //act_picker(CHELA_LEFT_TIGHT, CHELA_RIGHT_TIGHT, BELTS_OUT, BELTS_OUT, 0x1);
-                               //printf("Suck button released; belt speed set: %d\n", BELTS_OUT);
+                               ;//act OFF
                        }
                        break;
                case BT3:
@@ -258,7 +250,6 @@ int main(int argc, char *argv[])
        robottype_publisher_motion_speed_create(&orte, NULL, &orte);
        robottype_publisher_chelae_create(&orte, NULL, &orte);
        robottype_publisher_belts_create(&orte, NULL, &orte);
-       robottype_publisher_picker_create(&orte, NULL, &orte); // FIXME: temporary, should be present only until the LPCs are ready
        
        if(open_joystick(joy_name, &num_of_axis, &num_of_buttons) == -1) {
                printf("Joystick not found, exiting...\n");