From e517b18377c89792ae3b18fc25383d215a6d6d18 Mon Sep 17 00:00:00 2001
From: Michael Ferguson <mfergs7@gmail.com>
Date: Wed, 13 Dec 2023 11:17:51 -0500
Subject: [PATCH] revive ld06 pwm control, make output visible to user

---
 libraries/libcpp/inc/ld06.hpp | 7 +++++--
 projects/etherbotix/main.cpp  | 6 ++++++
 2 files changed, 11 insertions(+), 2 deletions(-)

diff --git a/libraries/libcpp/inc/ld06.hpp b/libraries/libcpp/inc/ld06.hpp
index 54c1189..7acde1f 100644
--- a/libraries/libcpp/inc/ld06.hpp
+++ b/libraries/libcpp/inc/ld06.hpp
@@ -179,7 +179,6 @@ class LD06
           {
             ++packets_;
             // Disabled because scan is more stable when PWM is open loop
-            /*
             last_speed_ = packet.radar_speed;
             if (last_speed_ < MINIMUM_LASER_SPEED)
             {
@@ -190,7 +189,6 @@ class LD06
               control_pwm_ -= 1;
             }
             TIM12->CCR2 = control_pwm_;
-            */
             return EXPECTED_PACKET_LENGTH;
           }
 
@@ -251,6 +249,11 @@ class LD06
     state_ = BUS_READING_START;
   }
 
+  uint16_t get_control_pwm()
+  {
+    return control_pwm_;
+  }
+
   ld06_packet_t packet;
 
 private:
diff --git a/projects/etherbotix/main.cpp b/projects/etherbotix/main.cpp
index e4d95ba..6971209 100644
--- a/projects/etherbotix/main.cpp
+++ b/projects/etherbotix/main.cpp
@@ -823,6 +823,12 @@ void SysTick_Handler(void)
     }
   }
 
+  // Update laser, if active
+  if (user_io_laser_active_)
+  {
+    registers.tim12_mode = laser.get_control_pwm();
+  }
+
   // Toggle LED
   if (registers.system_time - last_packet < 500)
   {