Why is rosserial skipping part of the code?

edit

I am currently using rosserial to interface with my arduino, but it seems like that is it skipping some parts of the code?

This is my main.ino

#include "speed_profile.h"
void setup() {
  // put your setup code here, to run once:
  output_pin_setup();
  cli();
  timer1_setup();
  sei();
}

void loop() 
{
      int motor_steps = 23400;//-9600; //23400 -  100%
      // Accelration to use.
      int motor_acceleration = 500;//500;
      // Deceleration to use.
      int motor_deceleration = 500;//500;
      // Speed to use.
      int motor_speed = 1000; // 1000
      init_tipper_position();
      compute_speed_profile(motor_steps, motor_acceleration, motor_deceleration, motor_speed); 
}

The function init_tipper_position() initializes the position of my motor, but for some reason is this function ignored. It never gets executed which i can feel on the motor as i am able to move it due to missing en_pin being high.

The code jumps directly to compute_speed_profile() when i start rosserial, and wait for me to publish something on to the topic it subscribes, and moves when I provide it the thing it needs.

how come is it skipping the prior function?

This is the init_tipper_position() function

void init_tipper_position()
{
  digitalWrite(en_pin, HIGH);
  delay(1);

  digitalWrite(dir_pin, LOW);
  delay(1);

  int decrement = 0;
  while((PINB & (1 << 2)))  
  {
    decrement++;
    digitalWrite(step_pin, HIGH);
    delayMicroseconds(600);
    digitalWrite(step_pin, LOW);
    delayMicroseconds(600);
  }

  digitalWrite(en_pin, LOW);

}

The other function declarations can be seen in the attached .

.cpp file

#include "speed_profile.h"


volatile speed_profile profile;

ros::NodeHandle nh;

std_msgs::Int16 status_step_count;
std_msgs::Int16 status_tipper_availability;
ros::Publisher chatter_status("tipper_status", &status_step_count);
ros::Publisher chatter_availabilty("tipper_availability", &status_tipper_availability);

volatile bool global_state = false;
bool moved_to_position = true;
int received_data = 0;


void call_back_control( const std_msgs::Empty & msg)
{
  global_state = true;
  // For HMI
  received_data  = (10 *23400.0)/100.0; // Converts input to motor_steps.
}

ros::Subscriber<std_msgs::Empty> sub_control("tipper_control", &call_back_control );

void output_pin_setup()
{
  pinMode(en_pin, OUTPUT);
  pinMode(dir_pin, OUTPUT);
  pinMode(step_pin, OUTPUT);
  pinMode(slot_sensor_pin,INPUT_PULLUP);
  nh.initNode();
  nh.advertise(chatter_status);
  nh.advertise(chatter_availabilty);
  nh.subscribe(sub_control);
  //nh.subscribe(sub_command);
  profile.current_step_position = 0;
  delay(10);
  nh.getHardware()->setBaud(57600);
}

void init_tipper_position()
{
  digitalWrite(en_pin, HIGH);
  delay(1);

  digitalWrite(dir_pin, LOW);
  delay(1);

  int decrement = 0;
  while((PINB & (1 << 2)))  
  {
    decrement++;
    digitalWrite(step_pin, HIGH);
    delayMicroseconds(600);
    digitalWrite(step_pin, LOW);
    delayMicroseconds(600);
  }

  digitalWrite(en_pin, LOW);

}
void timer1_setup()
{
  // Tells what part of speed ramp we are in.
  profile.run_state = STOP;

  // Timer/Counter 1 in mode 4 CTC (Not running).
  TCCR1B = (1 << WGM12);

  // Timer/Counter 1 Output Compare A Match Interrupt enable.
  TIMSK1 = (1 << OCIE1A);
}

void computation_of_speed_profile(signed int motor_steps, unsigned int motor_accel, unsigned int motor_decel, unsigned int motor_speed)
{
  unsigned int steps_to_speed;  // Steps required to achieve the the speed desired
  unsigned int acceleration_step_limit; // If desired speed is not achieved, will this variable contain step_limit to when to stop accelerating.
  // If moving only 1 step.
  if (motor_steps == 1)
  {
    // Move one step
    profile.accel_count = -1;
    // in DECEL state.
    profile.run_state = DECEL;
    // Just a short delay so main() can act on 'running'.
    profile.first_step_delay = 1000;
    OCR1A = 10;
    // Run Timer/Counter 1 with prescaler = 8.
    TCCR1B |= ((0 << CS12) | (1 << CS11) | (0 << CS10));
  }
  else if (motor_steps != 0)
  {
    // Set max speed limit, by calc min_delay to use in timer.
    // min_delay = (alpha / tt)/ w
    profile.min_time_delay = A_T_x100 / motor_speed;

    // Set accelration ...