🫏 Adds getter for state

2024-11-23 12:54:15 +01:00
parent 852ff91b7d
commit 8792c06e8a
8 changed files with 49 additions and 48 deletions
@@ -96,7 +96,7 @@ class ServoController : public StatefulService<ServoSettings> {
    void updateServoState() {
        for (int i = 0; i < 12; i++) {
            angles[i] = lerp(angles[i], target_angles[i], 0.2);
-            auto &servo = _state.servos[i];
+            auto &servo = state().servos[i];
            float angle = servo.direction * angles[i] + servo.centerAngle;
            uint16_t pwm = angle * servo.conversion + servo.centerPwm;
            if (pwm < 125 || pwm > 600) {