From 4075a25ca9690b897802c737cd091dd4ec373a34 Mon Sep 17 00:00:00 2001
From: Michael Ferguson <mfergs7@gmail.com>
Date: Sun, 12 Nov 2023 17:13:01 -0500
Subject: [PATCH] disable ld06 pwm loop

---
 libraries/libcpp/inc/ld06.hpp   | 3 +++
 projects/etherbotix/user_io.hpp | 6 ++++++
 2 files changed, 9 insertions(+)

diff --git a/libraries/libcpp/inc/ld06.hpp b/libraries/libcpp/inc/ld06.hpp
index 34b5c00..54c1189 100644
--- a/libraries/libcpp/inc/ld06.hpp
+++ b/libraries/libcpp/inc/ld06.hpp
@@ -178,6 +178,8 @@ class LD06
           if (crc == packet.crc)
           {
             ++packets_;
+            // Disabled because scan is more stable when PWM is open loop
+            /*
             last_speed_ = packet.radar_speed;
             if (last_speed_ < MINIMUM_LASER_SPEED)
             {
@@ -188,6 +190,7 @@ class LD06
               control_pwm_ -= 1;
             }
             TIM12->CCR2 = control_pwm_;
+            */
             return EXPECTED_PACKET_LENGTH;
           }
 
diff --git a/projects/etherbotix/user_io.hpp b/projects/etherbotix/user_io.hpp
index 81ae8d1..1dc42d6 100644
--- a/projects/etherbotix/user_io.hpp
+++ b/projects/etherbotix/user_io.hpp
@@ -238,6 +238,12 @@ inline void user_io_set_direction()
 
 inline bool user_io_ld06_init()
 {
+  if (user_io_laser_active_)
+  {
+    // Don't re-init the laser if already active - this slows the laser
+    return true;
+  }
+
   user_io_laser_active_ = 1;
 
   // Uses USART3 and TIM12