CopterExpress/clover
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led: remove delay before blink effect start

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This commit is contained in:
Oleg Kalachev
2022-06-08 00:18:56 +03:00
parent a360dc19c0
commit 9955599a0a
1 changed files with 3 additions and 4 deletions
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7
clover/src/led.cpp
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@@ -31,7 +31,6 @@ ros::Time start_time;
double blink_rate, blink_fast_rate, flash_delay, fade_period, wipe_period, rainbow_period;
double low_battery_threshold;
std::vector<std::string> error_ignore;
bool blink_state;
led_msgs::SetLEDs set_leds;
led_msgs::LEDStateArray state, start_state;
ros::ServiceClient set_leds_srv;
@@ -87,9 +86,8 @@ void proceed(const ros::TimerEvent& event)
set_leds.request.leds.resize(led_count);
if (current_effect.effect == "blink" || current_effect.effect == "blink_fast") {
blink_state = !blink_state;
// toggle all leds
if (blink_state) {
// enable on odd counter
if (counter % 2 != 0) {
fill(current_effect.r, current_effect.g, current_effect.b);
} else {
fill(0, 0, 0);
@@ -222,6 +220,7 @@ bool setEffect(clover::SetLEDEffect::Request& req, clover::SetLEDEffect::Respons
counter = 0;
start_state = state;
start_time = ros::Time::now();
proceed({ .current_real = start_time });
return true;
}