refactor: fix use ttyusb1

ichiro-its · Mar 4, 2024 · 6c0446c · 6c0446c
1 parent aa6df3d
commit 6c0446c
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Showing 2 changed files with 8 additions and 20 deletions.
diff --git a/src/check_rpy_main.cpp b/src/check_rpy_main.cpp
@@ -29,7 +29,7 @@
 
 int main(int argc, char * argv[])
 {
-  std::string port_name = "/dev/ttyUSB0";
+  std::string port_name = "/dev/ttyUSB1";
 
   if (argc > 1) {
     port_name = argv[1];
@@ -40,15 +40,9 @@ int main(int argc, char * argv[])
   if (mpu.connect()) {
     std::cout << "succeeded to connect to mpu " << port_name << "!\n";
   } else {
-    port_name = "/dev/ttyUSB1";
-    mpu.set_port_name(port_name);
-    if (mpu.connect()) {
-      std::cout << "succeeded to connect to mpu " << port_name << "!\n";
-    } else {
-      std::cout << "failed to connect to mpu!\n" <<
-        "try again!\n";
-      return 0;
-    }
+    std::cout << "failed to connect to mpu!\n" <<
+      "try again!\n";
+    return 0;
   }
 
   while (true) {

diff --git a/src/kansei_main.cpp b/src/kansei_main.cpp
@@ -35,7 +35,7 @@ int main(int argc, char * argv[])
 {
   rclcpp::init(argc, argv);
 
-  std::string port_name = "/dev/ttyUSB0";
+  std::string port_name = "/dev/ttyUSB1";
   std::string path = "";
   kansei::fallen::DeterminantType determinant_type;
 
@@ -88,15 +88,9 @@ int main(int argc, char * argv[])
   if (mpu->connect()) {
     std::cout << "succeeded to connect to mpu " << port_name << "!\n";
   } else {
-    port_name = "/dev/ttyUSB1";
-    mpu->set_port_name(port_name);
-    if (mpu->connect()) {
-      std::cout << "succeeded to connect to mpu " << port_name << "!\n";
-    } else {
-      std::cout << "failed to connect to mpu!\n" <<
-        "try again!\n";
-      return 0;
-    }
+    std::cout << "failed to connect to mpu!\n" <<
+      "try again!\n";
+    return 0;
   }
 
   auto node = std::make_shared<rclcpp::Node>("kansei_node");