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feat: handle remove of target properly

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Rick Rongen
2020-08-28 11:41:05 +02:00
parent dfa26e9ca6
commit 4d63e621c9
1 changed files with 5 additions and 1 deletions
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6
control/walle.py
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@@ -51,10 +51,11 @@ class WallE:
self.servo_positions[channel] = min_max.restval self.servo_positions[channel] = min_max.restval
def tick(self): def tick(self):
remove = {}
for channel, target in self.servo_targets.items(): for channel, target in self.servo_targets.items():
current_value = self.servo_positions[channel] current_value = self.servo_positions[channel]
if target == current_value: if target == current_value:
del self.servo_targets[channel] remove[channel] = target
continue continue
try: try:
servo_min_max = SERVO_MIN_MAX[channel] servo_min_max = SERVO_MIN_MAX[channel]
@@ -65,6 +66,9 @@ class WallE:
new_val = current_value + step_size if target > current_value else current_value - step_size new_val = current_value + step_size if target > current_value else current_value - step_size
self.servo_controller.write(channel, new_val) self.servo_controller.write(channel, new_val)
self.servo_positions[channel] = new_val self.servo_positions[channel] = new_val
for channel, target in remove.items():
if self.servo_targets[channel] == target:
del self.servo_targets[channel]
def set_servo(self, channel, value): def set_servo(self, channel, value):
try: try: