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Fix unexpected movement in MASSAGE mode

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Revert change where massage commands were only generated at
joystick change, since it has to be handled
frequently in any case for motors to actually stop after certain time.

Not tested yet
This commit is contained in:
jonny_l480 2024-03-18 21:17:00 +01:00
parent c1d34237ee
commit b9eb40538d
1 changed files with 7 additions and 9 deletions
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16
board_single/main/control.cpp
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@ -174,17 +174,15 @@ void controlledArmchair::handle()
stickDataLast = stickData; stickDataLast = stickData;
if (!freezeInput) if (!freezeInput)
stickData = joystick_l->getData(); stickData = joystick_l->getData();
//--- generate motor commands --- // reset timeout when joystick data changed
// only generate when the stick data actually changed (e.g. stick stayed in center)
if (stickData.x != stickDataLast.x || stickData.y != stickDataLast.y) if (stickData.x != stickDataLast.x || stickData.y != stickDataLast.y)
{
resetTimeout(); // user input -> reset switch to IDLE timeout resetTimeout(); // user input -> reset switch to IDLE timeout
// pass joystick data from getData method of evaluatedJoystick to generateCommandsShaking function //--- generate motor commands ---
commands = joystick_generateCommandsShaking(stickData); // pass joystick data from getData method of evaluatedJoystick to generateCommandsShaking function
// apply motor commands commands = joystick_generateCommandsShaking(stickData);
motorRight->setTarget(commands.right); // apply motor commands
motorLeft->setTarget(commands.left); motorRight->setTarget(commands.right);
} motorLeft->setTarget(commands.left);
break; break;
//------- handle HTTP mode ------- //------- handle HTTP mode -------