run callback in digatalControl only after rotation

finished
2023-08-09 14:37:22 +02:00
parent a00ee4080c
commit 984c1891e1
2 changed files with 8 additions and 2 deletions
@@ -85,5 +85,10 @@ void ManualControl::digitalControl() {
        this->moveControl->setRotationSpeed(0);

    if (this->directionChangeWrapper && (x > 120 || x < -120))
-        this->directionChangeWrapper->action();
+        this->lastLoopTurned = true;
+    else if (this->lastLoopTurned) {
+        if (this->directionChangeWrapper)
+            this->directionChangeWrapper->action();
+        this->lastLoopTurned = false;
+    }      
 }
@@ -103,8 +103,9 @@ class ManualControl : public DriveModi {
        void analogControl();
        void digitalControl();

-        uint32_t lastMillis = 0;
+        bool lastLoopTurned = false;
        uint8_t delay = 10;
+        uint32_t lastMillis = 0;
        double max_speed = 1;
        double max_rotation = 7;
        CalibrateCompass* caliCompass = nullptr;