AutonomousMode/ControlModule/control_module.cpp

@@ -110,5 +110,5 @@ double ControlModule::ratio(double angle)
     double progressPercent = progress/angularRange;
 
     double speed = minAngularSpeed + progressPercent*speedRange;
-    return std::fabs(speed);
+    return abs(speed);
 }

AutonomousMode/ControlModule/control_module.h

@@ -2,7 +2,6 @@
 #include <mutex>
 #include <vector>
 #include <iostream>
-#include <cmath>
 
 class ControlModule
 {

Communication/uart_communication.cpp

@@ -16,7 +16,7 @@ void LFR_UART::openFile(const char *fileName) {
 
 int LFR_UART::writeDataToFile(int8_t *buff, uint32_t bufferLength) {
     //std::cout << "Sending uart: " << std::bitset<8>(buff[0]) << std::endl;
-    std::cout << "Sending Uart: " << std::bitset<8>(buff[0]) << ", " << std::bitset<8>(buff[1]) << ", " << std::bitset<8>(buff[2]) << ", " << std::bitset<8>(buff[3]) << " csum:  "  << std::bitset<8>(buff[4]) << std::endl;
+    std::cout << "Sending uart: " << std::bitset<8>(buff[0]) << ", " << std::bitset<8>(buff[1]) << ", " << std::bitset<8>(buff[2]) << ", " << std::bitset<8>(buff[3]) << " csum:  "  << std::bitset<8>(buff[4]) << std::endl;
     return write(this->fileDescriptor, buff, bufferLength);
 }
 
@@ -66,7 +66,7 @@ double LFR_UART::byteToDouble(int8_t in){
 void LFR_UART::sendTelegram(double wheel1, double wheel2, double wheel3, double wheel4){
     std::chrono::milliseconds now = std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::system_clock::now().time_since_epoch());
     unsigned int deltaMs = static_cast<unsigned int>((now-last).count());
-    if (deltaMs < 250 && (std::fabs(wheel1)+std::fabs(wheel2)+std::fabs(wheel3)+std::fabs(wheel4)) > 0.0005)
+    if (deltaMs < 250)
     {
         std::cout << "Too fast" << std::endl;
         return;

Communication/uart_communication.h

@@ -12,7 +12,6 @@
 #include <exception>
 #include <iostream>
 #include <chrono>
-#include <cmath>
 
 #include <bitset>