Update emergency_stop.hpp

wesen02 · Mar 18, 2023 · 0b871ed · 0b871ed
1 parent 6a81f59
commit 0b871ed
Showing 1 changed file with 0 additions and 11 deletions.
diff --git a/include/emergency_stop.hpp b/include/emergency_stop.hpp
@@ -1,10 +1,7 @@
-
 #include <wiringPi.h>
 #include <sys/time.h> // gettimeofday
 #include <unistd.h>   // sleep/usleep
 
-#include <iostream>
-
 using namespace std;
 
 class e_stop
@@ -30,30 +27,22 @@ class e_stop
         digitalWrite(TRIG, HIGH);
         delayMicroseconds(10);
         digitalWrite(TRIG, LOW);
-        // usleep(10);
-        // digitalWrite(TRIG, LOW);
 
         if (waitValue(0))
         {
             double pulseStart = getTime();
 
-            // std::cout << "pulseStart" << pulseStart << "\n";
-
             if (waitValue(1))
             {
                 double pulseEnd = getTime();
 
                 double duration = pulseEnd - pulseStart;
                 double distance = duration * coefficient;
-                // std::cout << "duration" << duration << "\n";
 
                 return distance;
             }
         }
 
-        // std::cout << "Measurement error!"
-        //           << "\n";
-
         return 0.0 / 0.0;
     }