fix whill communication error report

lib/Whill/Whill.cpp

@@ -63,11 +63,6 @@ bool WhillModelC::moveVel(float y, float x) // [m/s]
         lr = constrain(lr, -100, 100);
         lr = constrain(lr, -100, 100);
     }
     }
 
 
-    // Serial.println("move 0-100 (y, x)");
-    // Serial.print(fb);
-    // Serial.print(", ");
-    // Serial.println(lr);
-
     return this->move((int8_t)fb, (int8_t)lr);
     return this->move((int8_t)fb, (int8_t)lr);
 }
 }
 
 
@@ -109,11 +104,9 @@ bool WhillModelC::streaming(bool b, uint16_t interval, DATASET n, SPEEDMODE mode
 
 
 void WhillModelC::parse()
 void WhillModelC::parse()
 {
 {
-    static uint32_t prev_ms = millis();
-
     if (streaming_info.is_streaming)
     if (streaming_info.is_streaming)
     {
     {
-        if ((millis() - prev_ms) > STATUS_RECEIVE_TIMEOUT)
+        if ((millis() - prev_streaming_ms) > STATUS_RECEIVE_TIMEOUT)
         {
         {
             status.info.battery.percent = 0;
             status.info.battery.percent = 0;
             status.info.error_code = 253;
             status.info.error_code = 253;
@@ -122,7 +115,7 @@ void WhillModelC::parse()
 
 
     while(serial->available() > 0)
     while(serial->available() > 0)
     {
     {
-        prev_ms = millis();
+        prev_streaming_ms = millis();
 
 
         char data = serial->read();
         char data = serial->read();
         unpacker.feed(data);
         unpacker.feed(data);
@@ -131,8 +124,6 @@ void WhillModelC::parse()
         {
         {
             if (unpacker.dataset() == (uint8_t)DATASET::SPEED_PROFILE)
             if (unpacker.dataset() == (uint8_t)DATASET::SPEED_PROFILE)
             {
             {
-                Serial.print("Speed Profile buffer is changed : ");
-                Serial.println(millis());
 #ifdef DEBUG_INFO
 #ifdef DEBUG_INFO
                 printSpeedProfile();
                 printSpeedProfile();
 #endif
 #endif
@@ -149,8 +140,6 @@ void WhillModelC::parse()
             }
             }
             else if (unpacker.dataset() == (uint8_t)DATASET::SENSOR_INFO)
             else if (unpacker.dataset() == (uint8_t)DATASET::SENSOR_INFO)
             {
             {
-                Serial.print("Sensor Info buffer is changed : ");
-                Serial.println(millis());
 #ifdef DEBUG_INFO
 #ifdef DEBUG_INFO
                 printSensorInfo();
                 printSensorInfo();
 #endif
 #endif

lib/Whill/Whill.h

@@ -155,6 +155,8 @@ private:
     SpeedProfile spd_profile;
     SpeedProfile spd_profile;
     Status status;
     Status status;
     StreamingInfo streaming_info;
     StreamingInfo streaming_info;
+
+    uint32_t prev_streaming_ms;
 };
 };
 
 
 WHILL_NAMESPACE_END
 WHILL_NAMESPACE_END