From 3e70a1fc74100001e4775d5a4faa33aee5d9d064 Mon Sep 17 00:00:00 2001
From: Michael Ehrenreich <michideep@gmail.com>
Date: Thu, 23 Jun 2022 00:06:50 +0200
Subject: [PATCH] Pull fixCommonParams and sendCommand out of driving modes

---
 main/modes.cpp                   | 5 +++++
 main/modes/defaultmode.cpp       | 2 --
 main/modes/gametrakmode.cpp      | 4 ----
 main/modes/ignoreinputmode.cpp   | 4 ----
 main/modes/larsmmode.cpp         | 4 ----
 main/modes/mickmode.cpp          | 4 ----
 main/modes/motortestmode.cpp     | 3 ---
 main/modes/remotecontrolmode.cpp | 4 ----
 main/modes/tempomatmode.cpp      | 4 ----
 main/modes/wheelchairmode.cpp    | 2 --
 10 files changed, 5 insertions(+), 31 deletions(-)

diff --git a/main/modes.cpp b/main/modes.cpp
index 7e46328..4be2e63 100644
--- a/main/modes.cpp
+++ b/main/modes.cpp
@@ -21,4 +21,9 @@ void updateDrivingMode()
 
     if (currentMode)
         currentMode->update();
+
+    fixCommonParams();
+
+    // Last, send values to motor controllers
+    sendCommands();
 }
diff --git a/main/modes/defaultmode.cpp b/main/modes/defaultmode.cpp
index 8473d25..9750a26 100644
--- a/main/modes/defaultmode.cpp
+++ b/main/modes/defaultmode.cpp
@@ -258,8 +258,6 @@ void DefaultMode::update()
                 motor.cruiseCtrlEna = false;
                 motor.nCruiseMotTgt = 0;
             }
-            fixCommonParams();
         }
     }
-    sendCommands();
 }
diff --git a/main/modes/gametrakmode.cpp b/main/modes/gametrakmode.cpp
index b714c85..62aeb0d 100644
--- a/main/modes/gametrakmode.cpp
+++ b/main/modes/gametrakmode.cpp
@@ -76,9 +76,5 @@ void GametrakMode::update()
             motor.nCruiseMotTgt = 0;
         }
     }
-
-    fixCommonParams();
-
-    sendCommands();
 }
 #endif
diff --git a/main/modes/ignoreinputmode.cpp b/main/modes/ignoreinputmode.cpp
index 5f87739..5399597 100644
--- a/main/modes/ignoreinputmode.cpp
+++ b/main/modes/ignoreinputmode.cpp
@@ -14,8 +14,4 @@ void IgnoreInputMode::update()
         motor.cruiseCtrlEna = false;
         motor.nCruiseMotTgt = 0;
     }
-
-    fixCommonParams();
-
-    sendCommands();
 }
diff --git a/main/modes/larsmmode.cpp b/main/modes/larsmmode.cpp
index 9d7decb..828fcec 100644
--- a/main/modes/larsmmode.cpp
+++ b/main/modes/larsmmode.cpp
@@ -105,8 +105,4 @@ void LarsmMode::update()
             motor.nCruiseMotTgt = 0;
         }
     }
-
-    fixCommonParams();
-
-    sendCommands();
 }
diff --git a/main/modes/mickmode.cpp b/main/modes/mickmode.cpp
index 255533a..cc5efce 100644
--- a/main/modes/mickmode.cpp
+++ b/main/modes/mickmode.cpp
@@ -78,8 +78,4 @@ void MickMode::update()
             motor.nCruiseMotTgt = 0;
         }
     }
-
-    fixCommonParams();
-
-    sendCommands();
 }
diff --git a/main/modes/motortestmode.cpp b/main/modes/motortestmode.cpp
index 6dbea6a..03b36d4 100644
--- a/main/modes/motortestmode.cpp
+++ b/main/modes/motortestmode.cpp
@@ -34,7 +34,4 @@ void MotortestMode::update()
         motor.cruiseCtrlEna = false;
         motor.nCruiseMotTgt = 0;
     }
-
-    fixCommonParams();
-    sendCommands();
 }
diff --git a/main/modes/remotecontrolmode.cpp b/main/modes/remotecontrolmode.cpp
index 6b2c9a2..1dbe9f2 100644
--- a/main/modes/remotecontrolmode.cpp
+++ b/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)
diff --git a/main/modes/tempomatmode.cpp b/main/modes/tempomatmode.cpp
index aa227ab..51cdba2 100644
--- a/main/modes/tempomatmode.cpp
+++ b/main/modes/tempomatmode.cpp
@@ -53,8 +53,4 @@ void TempomatMode::update()
             motor.nCruiseMotTgt = nCruiseMotTgt;
         }
     }
-
-    fixCommonParams();
-
-    sendCommands();
 }
diff --git a/main/modes/wheelchairmode.cpp b/main/modes/wheelchairmode.cpp
index 13db7a8..84325c4 100644
--- a/main/modes/wheelchairmode.cpp
+++ b/main/modes/wheelchairmode.cpp
@@ -219,9 +219,7 @@ void WheelchairMode::update()
                 controller.command.right.cruiseCtrlEna = false;
                 controller.command.right.nCruiseMotTgt = 0;
             }
-            fixCommonParams();
         }
     }
-    sendCommands();
 }
 #endif