src: raw code a changes

[eurobot/public.git] / src / cand / cand.cc

diff --git a/src/cand/cand.cc b/src/cand/cand.cc
index 09df2dc1a808e944a60217a752d8ad4649fe42e5..9b623ec5e6a200f98ea897d7310238fedc30e343 100644 (file)
--- a/src/cand/cand.cc
+++ b/src/cand/cand.cc
@@ -121,7 +121,7 @@ int set_vidle_cmd(uint16_t req_pos, char speed)
        data[0] = req_pos >> 8;
        data[1] = req_pos & 0xff;
        data[2] = speed;
-       can_send(CAN_VIDLE_CMD, 3, data);
+       //can_send(CAN_VIDLE_CMD, 3, data);
 
        return 0;
 }
@@ -135,7 +135,7 @@ int set_hokuyo_pitch(struct robottype_orte_data *orte_data)
 {
        unsigned char data = orte_data->hokuyo_pitch.angle;
 
-       can_send(CAN_HOKUYO_PITCH, sizeof(data), &data);
+       //can_send(CAN_HOKUYO_PITCH, sizeof(data), &data);
        return 0;
 }
 
@@ -173,12 +173,12 @@ void cand_parse_frame(struct robottype_orte_data *orte, struct can_frame frame)
                /* voltage measurements from power board */
                
                /* robot commands (start, ..) */
-               case CAN_VIDLE_STATUS:
+/*             case CAN_VIDLE_STATUS:
                        orte->vidle_status.act_pos = (frame.data[0] << 8) | frame.data[1];
                        orte->vidle_status.response = (frame.data[2] << 8) | frame.data[3];
                        orte->vidle_status.flags = frame.data[4];
                        ORTEPublicationSend(orte->publication_vidle_status);
-                       break;
+                       break;*/
                case CAN_ROBOT_CMD:
                        orte->robot_cmd.start_condition = frame.data[0];
                        ORTEPublicationSend(orte->publication_robot_cmd);