From 984c1891e1227d962df700baae629b36dd1b65f3 Mon Sep 17 00:00:00 2001
From: Alexander Klein <alex@kleiax.de>
Date: Wed, 9 Aug 2023 14:37:22 +0200
Subject: [PATCH] run callback in digatalControl only after rotation finished

---
 src/driveModi/Modi/ManualControl/manualControl.cpp | 7 ++++++-
 src/driveModi/Modi/ManualControl/manualControl.h   | 3 ++-
 2 files changed, 8 insertions(+), 2 deletions(-)

diff --git a/src/driveModi/Modi/ManualControl/manualControl.cpp b/src/driveModi/Modi/ManualControl/manualControl.cpp
index a8f3643..a02c561 100644
--- a/src/driveModi/Modi/ManualControl/manualControl.cpp
+++ b/src/driveModi/Modi/ManualControl/manualControl.cpp
@@ -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;
+    }      
 }
diff --git a/src/driveModi/Modi/ManualControl/manualControl.h b/src/driveModi/Modi/ManualControl/manualControl.h
index ad70d2d..35d242d 100644
--- a/src/driveModi/Modi/ManualControl/manualControl.h
+++ b/src/driveModi/Modi/ManualControl/manualControl.h
@@ -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;