Pull fixCommonParams and sendCommand out of driving modes

main/modes.cpp

@@ -21,4 +21,9 @@ void updateDrivingMode()
 
     if (currentMode)
         currentMode->update();
+
+    fixCommonParams();
+
+    // Last, send values to motor controllers
+    sendCommands();
 }

main/modes/defaultmode.cpp

@@ -258,8 +258,6 @@ void DefaultMode::update()
                 motor.cruiseCtrlEna = false;
                 motor.nCruiseMotTgt = 0;
             }
-            fixCommonParams();
         }
     }
-    sendCommands();
 }

main/modes/gametrakmode.cpp

@@ -76,9 +76,5 @@ void GametrakMode::update()
             motor.nCruiseMotTgt = 0;
         }
     }
-
-    fixCommonParams();
-
-    sendCommands();
 }
 #endif

main/modes/ignoreinputmode.cpp

@@ -14,8 +14,4 @@ void IgnoreInputMode::update()
         motor.cruiseCtrlEna = false;
         motor.nCruiseMotTgt = 0;
     }
-
-    fixCommonParams();
-
-    sendCommands();
 }

main/modes/larsmmode.cpp

@@ -105,8 +105,4 @@ void LarsmMode::update()
             motor.nCruiseMotTgt = 0;
         }
     }
-
-    fixCommonParams();
-
-    sendCommands();
 }

main/modes/mickmode.cpp

@@ -78,8 +78,4 @@ void MickMode::update()
             motor.nCruiseMotTgt = 0;
         }
     }
-
-    fixCommonParams();
-
-    sendCommands();
 }

main/modes/motortestmode.cpp

@@ -34,7 +34,4 @@ void MotortestMode::update()
         motor.cruiseCtrlEna = false;
         motor.nCruiseMotTgt = 0;
     }
-
-    fixCommonParams();
-    sendCommands();
 }

main/modes/remotecontrolmode.cpp

@@ -42,10 +42,6 @@ void RemoteControlMode::update()
         controllers.back.command.left.pwm = m_remoteCommand->backLeft;
         controllers.back.command.right.pwm = m_remoteCommand->backRight;
     }
-
-    fixCommonParams();
-
-    sendCommands();
 }
 
 void RemoteControlMode::setCommand(const RemoteCommand &command)

main/modes/tempomatmode.cpp

@@ -53,8 +53,4 @@ void TempomatMode::update()
             motor.nCruiseMotTgt = nCruiseMotTgt;
         }
     }
-
-    fixCommonParams();
-
-    sendCommands();
 }

main/modes/wheelchairmode.cpp

@@ -219,9 +219,7 @@ void WheelchairMode::update()
                 controller.command.right.cruiseCtrlEna = false;
                 controller.command.right.nCruiseMotTgt = 0;
             }
-            fixCommonParams();
         }
     }
-    sendCommands();
 }
 #endif