Fix some of Alvin's small comments

StanfordASL · Mar 13, 2024 · 9cf5864 · 9cf5864
1 parent bbe2697
commit 9cf5864
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Showing 4 changed files with 1 addition and 25 deletions.
diff --git a/ff_control/ff_control/tri_thruster_ctrl.py b/ff_control/ff_control/tri_thruster_ctrl.py
@@ -1,6 +1,6 @@
 # MIT License
 #
-# Copyright (c) 2023 Stanford Autonomous Systems Lab
+# Copyright (c) 2024 Stanford Autonomous Systems Lab
 #
 # Permission is hereby granted, free of charge, to any person obtaining a copy
 # of this software and associated documentation files (the "Software"), to deal

diff --git a/ff_control/ff_control/wrench_ctrl.py b/ff_control/ff_control/wrench_ctrl.py
@@ -45,9 +45,6 @@ def set_body_wrench(self, wrench_body: Wrench2D, use_wheel: bool = False) -> Non
         wrench_body_clipped = self.clip_wrench(wrench_body)
 
         # convert force
-        self.get_logger().info(
-            "Checking value of actuators" + str(self.p.actuators["F_max_per_thruster"])
-        )
         u_Fx = wrench_body_clipped.fx / (2 * self.p.actuators["F_max_per_thruster"])
         u_Fy = wrench_body_clipped.fy / (2 * self.p.actuators["F_max_per_thruster"])
         if u_Fx > 0:

diff --git a/ff_sim/ff_sim/simulator_node.py b/ff_sim/ff_sim/simulator_node.py
@@ -43,7 +43,6 @@
     Wrench2DStamped,
     WheelVelCommand,
     ThrusterCommand,
-    ControllerMetrics,
 )
 
 from ff_params import RobotParams
@@ -117,16 +116,6 @@ def __init__(self):
 
         self.p = RobotParams(self)
 
-        self.running_total_gas = 0
-        self.thrust_hist = [[] for i in range(8)]
-        self.thrust_duty_cycles = [0] * 8
-        # self.start_time = self.get_clock().now().to_msg()
-        self.steps = 0
-        self.duty_cycle_window = 200
-        self.rolled_up = False
-        # self.get_logger().info("********MESSAGE"+str(self.start_time))
-        # self.get_logger().info("********SEC"+str(self.start_time.sec))
-
         # obstacles
         p_obstacles = self.declare_parameters(
             "obstacles",
@@ -191,9 +180,6 @@ def __init__(self):
         self.declare_parameter("mocap_noise_xy", 0.001)
         self.declare_parameter("mocap_noise_theta", math.radians(0.1))
         self.pub_mocap = self.create_publisher(PoseStamped, "mocap/sim/pose", 10)
-        self.pub_controller_metrics = self.create_publisher(
-            ControllerMetrics, "controller/metrics", 10
-        )
 
         self.sim_timer = self.create_timer(self.SIM_DT, self.sim_loop)
 

diff --git a/freeflyer/test/opt_ctrl_launch_test.py b/freeflyer/test/opt_ctrl_launch_test.py
@@ -59,13 +59,6 @@ def generate_test_description():
         name="opt_ctrl_node",
         namespace=ROBOT_NAME,
     )
-    # pwm_ctrl_node = Node(
-    #     package="ff_control",
-    #     executable=["pwm_ctrl_cpp_node"],
-    #     name="pwm_ctrl_node",
-    #     namespace=ROBOT_NAME,
-    #     condition=IfCondition(PythonExpression(["'", impl, "'", " == 'py'"])),
-    # )
     estimator = Node(
         package="ff_estimate",
         executable="moving_avg_estimator_node",