clean up

include/main.h

@@ -67,11 +67,6 @@ void identify()
     pinMode(26, INPUT_PULLUP);
     pinMode(27, INPUT_PULLUP);
 
-    Serial.print("bit 0 : "); Serial.println(digitalRead(27));
-    Serial.print("bit 1 : "); Serial.println(digitalRead(26));
-    Serial.print("bit 2 : "); Serial.println(digitalRead(25));
-    Serial.print("bit 3 : "); Serial.println(digitalRead(24));
-
     HARDWARE_ID = (!digitalRead(24) << 3) | (!digitalRead(25) << 2) | (!digitalRead(26) << 1) | (!digitalRead(27) << 0);
     Serial.print("ID = "); Serial.println(HARDWARE_ID);
 }
@@ -232,17 +227,6 @@ void initXBee(uint8_t hw_id)
 
 void setVelocity()
 {
-#if 0
-    unpacker.parse();
-    while (unpacker.available())
-    {
-        if (unpacker.id() == HARDWARE_ID)
-        {
-            whill.move(unpacker.velocityX(), unpacker.velocityY(), unpacker.velocityW());
-        }
-        unpacker.pop();
-    }
-#else
     static float vel[3];
 
     unpacker.parse();
@@ -277,10 +261,6 @@ void setVelocity()
     {
         whill.move(vel[0], vel[1], vel[2]);
     }
-    else
-    {
-    }
-#endif
 }
 
 void sendStatus(WhillOmni::LR lr)