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rombie18 · May 3, 2023 · 13eddae · 13eddae
1 parent 5f84bc6
commit 13eddae
Showing 1 changed file with 4 additions and 9 deletions.
diff --git a/Software/threads/main.py b/Software/threads/main.py
@@ -28,9 +28,6 @@ def __init__(self):
         self.control = "MANUAL"
 
         self.flag_initialised = False
-        self.flag_halt = False
-        self.flag_stop = False
-        self.flag_pause = False
 
         self.velocity = 0
         self.set_velocity = 0
@@ -81,7 +78,6 @@ def __init__(self):
         logging.info("Starting main loop")
         try:
             while not self.stop_event.is_set():
-                self.handle_controls()
                 self.process_flags()
 
                 #TODO improve state machine
@@ -111,7 +107,6 @@ def __init__(self):
     def safe_stop(self):
         logging.info("Safe stop")
         self.threads_stop()
-        self.flag_stop = True
         self.actuator_motor.throttle = 0
         self.actuator_servo.angle = self.transform_heading_to_angle(0)
         GPIO.cleanup()
@@ -182,16 +177,16 @@ def transform_centerangle_to_angle(self, centerangle):
 
     ### Controller functions ###
     def controller_add(self, joy):
-        print('Controller connected:', joy)
+        logging.debug('Controller connected: ', joy)
 
     def controller_remove(self, joy):
-        print('Controller disconnected:', joy)
+        logging.debug('Controller disconnected: ', joy)
         # Robot sould stop here or at least continue in a very slow safe mode
-        self.stop = True
+        self.stop_event.set()
 
     def controller_process(self, key):
         try:
-            print(key)
+            logging.debug("Controller key event: " + key)
             if key.keytype == "Axis" and key.number == 0:
                 # Left joystick, left - right
                 # Steering