more work on calibration

calib/calibgyro.nb

@@ -10,10 +10,10 @@
 NotebookFileLineBreakTest
 NotebookFileLineBreakTest
 NotebookDataPosition[       158,          7]
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+NotebookOutlinePosition[    169092,       3729]
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+CellTagsIndexPosition[    169049,       3726]
 WindowFrame->Normal*)
 
 (* Beginning of Notebook Content *)
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+    RowBox[{"\"\<ugv2_rest.csv\>\"", ",", 
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@@ -43,12 +43,13 @@ Cell[BoxData[{
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-Cell[71643, 1641, 364, 7, 35, "Output",ExpressionUUID->"324450e0-efaa-4874-813e-26827ab7e928"],
+Cell[64369, 1522, 364, 7, 35, "Output",ExpressionUUID->"324450e0-efaa-4874-813e-26827ab7e928"],
-Cell[72010, 1650, 387, 8, 35, "Output",ExpressionUUID->"54298d47-7b8b-469d-b52b-3f8da3de3be2"]
+Cell[64736, 1531, 387, 8, 35, "Output",ExpressionUUID->"54298d47-7b8b-469d-b52b-3f8da3de3be2"]
 }, Open  ]],
 Cell[CellGroupData[{
-Cell[72434, 1663, 381, 9, 55, "Input",ExpressionUUID->"cbc8f16e-97a5-475f-8071-d73aef03f302"],
+Cell[65160, 1544, 381, 9, 55, "Input",ExpressionUUID->"cbc8f16e-97a5-475f-8071-d73aef03f302"],
-Cell[72818, 1674, 18946, 328, 374, "Output",ExpressionUUID->"eafe3610-11d1-4605-afee-d4fdf3dc26c4"]
+Cell[65544, 1555, 18946, 328, 374, "Output",ExpressionUUID->"eafe3610-11d1-4605-afee-d4fdf3dc26c4"]
 }, Open  ]],
 Cell[CellGroupData[{
-Cell[91801, 2007, 288, 5, 55, "Input",ExpressionUUID->"c3a95ca1-f798-4a77-a332-82397c454067"],
+Cell[84527, 1888, 288, 5, 55, "Input",ExpressionUUID->"c3a95ca1-f798-4a77-a332-82397c454067"],
-Cell[92092, 2014, 10949, 313, 242, "Output",ExpressionUUID->"56e9edd5-bbf4-46aa-81e4-1926050b9e16"]
+Cell[84818, 1895, 10949, 313, 242, "Output",ExpressionUUID->"56e9edd5-bbf4-46aa-81e4-1926050b9e16"]
 }, Open  ]],
 Cell[CellGroupData[{
-Cell[103078, 2332, 349, 6, 31, "Input",ExpressionUUID->"25184dae-8e32-46f2-b4df-4067e177155f"],
+Cell[95804, 2213, 349, 6, 31, "Input",ExpressionUUID->"25184dae-8e32-46f2-b4df-4067e177155f"],
-Cell[103430, 2340, 72585, 1490, 392, "Output",ExpressionUUID->"361b115e-8f0f-45ab-83e8-7704c0daae6c"]
+Cell[96156, 2221, 72585, 1490, 392, "Output",ExpressionUUID->"361b115e-8f0f-45ab-83e8-7704c0daae6c"]
 }, Open  ]]
 }
 ]

main/e32_driver.cc

@@ -312,7 +312,7 @@ int E32_Driver::ReadLn(char* data, size_t data_size, TickType_t ticks_to_wait) {
   int        read, total_read = 0;
   while (total_read < data_size) {
     read = Read(&byte, 1, ticks_to_wait - (current_tick - start_tick));
-    if (read < 0) {
+    if (read < 1) {
       return read;
     }
     if (byte == '\n') break;
@@ -332,7 +332,7 @@ int E32_Driver::ReadLn(std::string& data, TickType_t ticks_to_wait) {
   int        read, total_read = 0;
   while (true) {
     read = Read(&byte, 1, ticks_to_wait - (current_tick - start_tick));
-    if (read < 0) {
+    if (read < 1) {
       return read;
     }
     if (byte == '\n') break;