Merge pull request #125 from BCLab-UNM/fix-script_and_debugcode

Give error message to user when -S used incorrectly. Removed debug output.

Author: gmfricke

misc/deploy.sh

@@ -214,7 +214,7 @@ fi
 
 while(true); do
 
-if [ $2 == "-S" ]; then
+if [ "$2" == "-S" ]; then
 
     i=3
 
@@ -671,6 +671,9 @@ elif [ $OPTION == "-R" ]; then
 
 		i=0
 	done
+else
+    echo "Unrecognized command! Please ensure you are typing in your option correctly and try again!"
+    exit 1
 fi
 
 done

src/behaviours/src/DriveController.cpp

@@ -136,16 +136,11 @@ Result DriveController::DoWork()
       {
         fastPID(0.0, errorYaw, result.pd.setPointVel, result.pd.setPointYaw);
 
-        std::cout << "LEFT:  " << this->left << ", RIGHT:  " << this->right << std::endl;
-
         const int MIN_TURN_VALUE = 80;
 
         //If wheels get a value less than 80, will cause robot to sit in place
         if(fabs(left) < MIN_TURN_VALUE && fabs(right) < MIN_TURN_VALUE)
         {
-
-            std::cout << "ERROR my speed was too slow, increasing" << std::endl;
-
             //increase left and right values to minimum value, checking signs for negative or positive value
             if(this->left < 0)
             {
@@ -164,8 +159,6 @@ Result DriveController::DoWork()
             {
               this->right = MIN_TURN_VALUE;
             }
-
-            std::cout << "LEFT:  " << this->left << ", RIGHT:  " << this->right << std::endl;
         }
       }