From 2d0acd2a82680abea6a2776ffcc19f95b78da9c7 Mon Sep 17 00:00:00 2001
From: Pascal Serrarens <pse@pale.blue>
Date: Wed, 4 Jun 2025 09:42:52 +0200
Subject: [PATCH] Cleanup

---
 src/Messages/LowLevelMessages.cs | 5 +----
 src/Things/EncoderMotor.cs       | 2 +-
 2 files changed, 2 insertions(+), 5 deletions(-)

diff --git a/src/Messages/LowLevelMessages.cs b/src/Messages/LowLevelMessages.cs
index 4f90d75..e602ed2 100644
--- a/src/Messages/LowLevelMessages.cs
+++ b/src/Messages/LowLevelMessages.cs
@@ -45,18 +45,15 @@ namespace RoboidControl {
 
         public static void SendQuat32(byte[] buffer, ref byte ix, SwingTwist s) {
             Quat32 q32 = Quat32.FromSwingTwist(s);
-            System.Console.Write($"send q32: {q32.x} {q32.y} {q32.z} {q32.w}");
             SendQuat32(buffer, ref ix, q32);
         }
 
         public static void SendSwingTwist(byte[] buffer, ref byte ix, SwingTwist r) {
-            System.Console.Write($"send st: {r.swing.horizontal} {r.swing.vertical} {r.twist}");
-
             SendAngle8(buffer, ref ix, r.swing.horizontal);
             SendAngle8(buffer, ref ix, r.swing.vertical);
             SendAngle8(buffer, ref ix, r.twist);
-
         }
+        
         public static SwingTwist ReceiveSwingTwist(byte[] data, ref byte ix) {
             float horizontal = ReceiveAngle8(data, ref ix);
             float vertical = ReceiveAngle8(data, ref ix);
diff --git a/src/Things/EncoderMotor.cs b/src/Things/EncoderMotor.cs
index 01d6ac6..7a1302e 100644
--- a/src/Things/EncoderMotor.cs
+++ b/src/Things/EncoderMotor.cs
@@ -50,7 +50,7 @@ namespace RoboidControl {
 
         float pidP = 0.1F;
         float pidD = 0.0F;
-        float pidI = 0.0F;
+        //float pidI = 0.0F;
 
         public override void Update(ulong currentTimeMs, bool recurse = false) {
             float actualSpeed = this.encoder.angularSpeed;