⚡️ Removes unnecessary lerp

2025-07-16 20:32:46 +02:00
parent 6e10eabd9f
commit 43e76770a8
2 changed files with 2 additions and 3 deletions
@@ -59,7 +59,6 @@ class MotionService {
    void handleInput(JsonVariant &root, int originId) {
        JsonArray array = root.as<JsonArray>();
        command.lx = array[1];
-        command.lx = array[1];
        command.ly = array[2];
        command.rx = array[3];
        command.ry = array[4];
@@ -123,7 +122,7 @@ class MotionService {
        return update_angles(new_angles, angles);
    }

-    bool update_angles(float new_angles[12], float angles[12], bool useLerp = true) {
+    bool update_angles(float new_angles[12], float angles[12], bool useLerp = false) {
        bool updated = false;
        for (int i = 0; i < 12; i++) {
            float new_angle = useLerp ? lerp(angles[i], new_angles[i] * dir[i], 0.3) : new_angles[i] * dir[i];