Merge pull request #79 from SJSURoboticsTeam/fix-speed-update-on-arm

Fix speed update on arm
SJSURoboticsTeam · Sep 12, 2023 · f5ee71c · f5ee71c
2 parents bb9719d + d9f12e3
commit f5ee71c
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Showing 2 changed files with 15 additions and 16 deletions.
diff --git a/src/App.tsx b/src/App.tsx
@@ -70,8 +70,8 @@ function App() {
           {system === 'science' && <ScienceSystem commands={commands} />}
 
           <Status status={status} />
-          <Camera name="0" src="http://192.168.1.201:8081/" />
-          <Camera name="1" src="http://192.168.1.206:8081/" />
+          <Camera name="0" src="http://192.168.0.201:8081/" />
+          <Camera name="1" src="http://192.168.0.206:8081/" />
           <Camera name="2" src="http://raspberrypi:8003/stream.mjpg" />
           <Camera name="3" src="http://raspberrypi:8003/stream.mjpg" />
         </div>

diff --git a/src/components/ArmSystem.tsx b/src/components/ArmSystem.tsx
@@ -44,14 +44,14 @@ export default function ArmSystem({ commands }) {
 
     useEffect(() => {
         const interval = setInterval(() => {
-            updateController();
+            if(getGamePad()) {updateController();}
         }, 125);
         return () => clearInterval(interval);
     }, []);
 
     function updateCommands(newCommands) {
         commands.current = armStringFormat(newCommands);
-        setArmCommands(newCommands);
+        setArmCommands(prev => ({...prev, ...newCommands}));
     }
 
     function handleChange(e) {
@@ -64,7 +64,7 @@ export default function ArmSystem({ commands }) {
     }
 
     function updateController() {
-        updateCommands({ ...getCommands(), speed: armCommands.speed });
+        updateCommands({ ...getCommands() });
     }
 
     function getCommands(): ArmCommandDTO {
@@ -75,17 +75,16 @@ export default function ArmSystem({ commands }) {
         }
 
         let currentCommands = commandsRef.current;
-        let commands = DEFAULT_ARM_COMMANDS;
-
-        commands.rotunda_angle = controller.getRotundaAngle(currentCommands);
-        commands.shoulder_angle = controller.getShoulderAngle(currentCommands);
-        commands.elbow_angle = controller.getElbowAngle(currentCommands);
-        commands.wrist_roll_angle = controller.getWristRollAngle(currentCommands);
-        commands.wrist_pitch_angle = controller.getWristPitchAngle(currentCommands);
-        commands.end_effector_angle = controller.getEndEffectorAngle(currentCommands);
-
-
-        return commands;
+        let newCommands = DEFAULT_ARM_COMMANDS;
+
+        newCommands.rotunda_angle = controller.getRotundaAngle(currentCommands);
+        newCommands.shoulder_angle = controller.getShoulderAngle(currentCommands);
+        newCommands.elbow_angle = controller.getElbowAngle(currentCommands);
+        newCommands.wrist_roll_angle = controller.getWristRollAngle(currentCommands);
+        newCommands.wrist_pitch_angle = controller.getWristPitchAngle(currentCommands);
+        newCommands.end_effector_angle = controller.getEndEffectorAngle(currentCommands);
+        delete newCommands.speed;
+        return newCommands;
     }
 
     function getGamePad() {