fixed merge since did not preperly save changes

Author: JPGC04

Power/src/main.cpp

@@ -43,16 +43,6 @@ float Bvoltages[2];
 
 // updates thrusters' pwm signals from array
 void updateThrusters(const uint16_t microseconds[8]) {
-<<<<<<< PowerBoardRos
-  thrusters[BACK_L].writeMicroseconds(microseconds[BACK_L]);
-  thrusters[HEAVE_BACK_L].writeMicroseconds(microseconds[HEAVE_BACK_L]);
-  thrusters[HEAVE_FRONT_L].writeMicroseconds(microseconds[HEAVE_FRONT_L]);
-  thrusters[FRONT_L].writeMicroseconds(microseconds[FRONT_L]);
-  thrusters[FRONT_R].writeMicroseconds(microseconds[FRONT_R]);
-  thrusters[HEAVE_FRONT_R].writeMicroseconds(microseconds[HEAVE_FRONT_R]);
-  thrusters[BACK_R].writeMicroseconds(microseconds[BACK_R]);
-  thrusters[HEAVE_BACK_R].writeMicroseconds(microseconds[HEAVE_BACK_R]);
-=======
 	thrusters[BACK_L].writeMicroseconds(microseconds[BACK_L]);
 	thrusters[HEAVE_BACK_L].writeMicroseconds(microseconds[HEAVE_BACK_L]);
 	thrusters[HEAVE_FRONT_L].writeMicroseconds(microseconds[HEAVE_FRONT_L]);
@@ -61,32 +51,15 @@ void updateThrusters(const uint16_t microseconds[8]) {
 	thrusters[HEAVE_FRONT_R].writeMicroseconds(microseconds[HEAVE_FRONT_R]);
 	thrusters[BACK_R].writeMicroseconds(microseconds[BACK_R]);
 	thrusters[HEAVE_BACK_R].writeMicroseconds(microseconds[HEAVE_BACK_R]);
->>>>>>> main
 }
 
 // updates microseconds array with values from ros
 void commandCb(const auv_msgs::ThrusterMicroseconds &tc) {
-<<<<<<< PowerBoardRos
-  memcpy(microseconds, tc.microseconds, 8 * sizeof(uint16_t));
-=======
 	memcpy(microseconds, tc.microseconds, 8 * sizeof(uint16_t));
->>>>>>> main
 }
 
 // attaches and arms thrusters
 void initThrusters() {
-<<<<<<< PowerBoardRos
-  thrusters[BACK_L].attach(BACK_L_PIN);
-  thrusters[HEAVE_BACK_L].attach(HEAVE_BACK_L_PIN);
-  thrusters[HEAVE_FRONT_L].attach(HEAVE_FRONT_L_PIN);
-  thrusters[FRONT_L].attach(FRONT_L_PIN);
-  thrusters[FRONT_R].attach(FRONT_R_PIN);
-  thrusters[HEAVE_FRONT_R].attach(HEAVE_FRONT_R_PIN);
-  thrusters[HEAVE_BACK_R].attach(HEAVE_BACK_R_PIN);
-  thrusters[BACK_R].attach(BACK_R_PIN);
-
-  updateThrusters(offCommand);
-=======
 	thrusters[BACK_L].attach(BACK_L_PIN);
 	thrusters[HEAVE_BACK_L].attach(HEAVE_BACK_L_PIN);
 	thrusters[HEAVE_FRONT_L].attach(HEAVE_FRONT_L_PIN);
@@ -97,7 +70,6 @@ void initThrusters() {
 	thrusters[BACK_R].attach(BACK_R_PIN);
 
 	updateThrusters(offCommand);
->>>>>>> main
 }
 
 // sets up ros publisher and subscriber nodes
@@ -114,7 +86,6 @@ void senseVoltage(float Bvoltages[]) {
 
 // updates values sensed onto the ros nodes and publishes them
 void publishVoltages() {
-<<<<<<< PowerBoardRos
   senseVoltage(Bvoltages);
 
   batt1_voltage_msg.data = Bvoltages[0];
@@ -134,44 +105,14 @@ void setup() {
   nh.subscribe(sub);
   nh.advertise(batt1_voltage);
   nh.advertise(batt2_voltage);
-=======
-	senseVoltage(Bvoltages);
-
-	batt1_voltage_msg.data = Bvoltages[0];
-	batt2_voltage_msg.data = Bvoltages[1];
-
-	batt1_voltage.publish(&batt1_voltage_msg);
-	batt2_voltage.publish(&batt2_voltage_msg);
-}
-
-void setup() {
-	initThrusters();
-
-	pinMode(VBAT1_SENSE, INPUT);
-	pinMode(VBAT2_SENSE, INPUT);
-
-	nh.initNode();
-	nh.subscribe(sub);
-	nh.advertise(batt1_voltage);
-	nh.advertise(batt2_voltage);
->>>>>>> main
 }
 
 void loop() {
   updateThrusters(microseconds);
 
-<<<<<<< PowerBoardRos
   publishVoltages();
 
   nh.spinOnce();
 
   delay(10);
 }
-=======
-	publishVoltages();
-
-	nh.spinOnce();
-
-	delay(10);
-}
->>>>>>> main