fix high example

unitreerobotics · Sep 14, 2021 · ca3148f · ca3148f
1 parent 4fafb79
commit ca3148f
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diff --git a/examples/example_dance.cpp b/examples/example_dance.cpp
@@ -13,12 +13,8 @@ using namespace UNITREE_LEGGED_SDK;
 class Custom
 {
 public:
-    // Custom(uint8_t level): safe(LeggedType::A1), udp(level){
-    // Custom(uint8_t level): safe(LeggedType::A1), udp(8090, "192.168.123.11", 8082, sizeof(HighCmd), sizeof(HighState)){
     Custom(uint8_t level): safe(LeggedType::A1), udp(8090, "192.168.123.161", 8082, sizeof(HighCmd), sizeof(HighState)){
         udp.InitCmdData(cmd);
-        udp.SetDisconnectTime(dt, 1);
-        // udp.SetDisconnectTime(0, 0);
     }
     void UDPRecv();
     void UDPSend();
@@ -48,9 +44,6 @@ void Custom::RobotControl()
     motiontime += 2;
     udp.GetRecv(state);
     // printf("%d   %f\n", motiontime, state.forwardSpeed);
-    // printf("%f %f \n", state.imu.quaternion[0], state.imu.quaternion[1]);
-    // printf("%f %f \n", state.imu.rpy[1], state.imu.rpy[2]);
-    // printf("%f %f %f %f %f\n", state.imu.rpy[1], state.imu.rpy[2], state.position[0], state.position[1], state.velocity[0]);
 
     cmd.mode = 0;      // 0:idle, default stand      1:forced stand     2:walk continuously
     cmd.gaitType = 0;
@@ -65,7 +58,6 @@ void Custom::RobotControl()
     cmd.yawSpeed = 0.0f;
 
 
-
     if(motiontime > 0 && motiontime < 4000){
         cmd.mode = 12;
         printf("dance1 \n");
@@ -118,9 +110,6 @@ void Custom::RobotControl()
         cmd.mode = 1;
     }
 
-
-
-
     udp.SetSend(cmd);
 }
 

diff --git a/examples/example_walk.cpp b/examples/example_walk.cpp
@@ -13,11 +13,8 @@ using namespace UNITREE_LEGGED_SDK;
 class Custom
 {
 public:
-    // Custom(uint8_t level): safe(LeggedType::A1), udp(8090, "192.168.123.11", 8082, sizeof(HighCmd), sizeof(HighState)){
     Custom(uint8_t level): safe(LeggedType::A1), udp(8090, "192.168.123.161", 8082, sizeof(HighCmd), sizeof(HighState)){
         udp.InitCmdData(cmd);
-        udp.SetDisconnectTime(dt, 1);
-        // udp.SetDisconnectTime(0, 0);
     }
     void UDPRecv();
     void UDPSend();