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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;
if (!freezeInput)
stickData = joystick_l->getData();
//--- generate motor commands ---
// only generate when the stick data actually changed (e.g. stick stayed in center)
// reset timeout when joystick data changed
if (stickData.x != stickDataLast.x || stickData.y != stickDataLast.y)
{
resetTimeout(); // user input -> reset switch to IDLE timeout
// pass joystick data from getData method of evaluatedJoystick to generateCommandsShaking function
commands = joystick_generateCommandsShaking(stickData);
// apply motor commands
motorRight->setTarget(commands.right);
motorLeft->setTarget(commands.left);
}
//--- generate motor commands ---
// pass joystick data from getData method of evaluatedJoystick to generateCommandsShaking function
commands = joystick_generateCommandsShaking(stickData);
// apply motor commands
motorRight->setTarget(commands.right);
motorLeft->setTarget(commands.left);
break;
//------- handle HTTP mode -------