From 397e6fe33150ae069a86eb432bc9644491c4ec98 Mon Sep 17 00:00:00 2001
From: Tim Zeuner <zeunerti74726@th-nuernberg.de>
Date: Thu, 23 Feb 2023 20:39:28 +0100
Subject: [PATCH] Let signals to stop always pass

---
 Communication/uart_communication.cpp | 4 ++--
 Communication/uart_communication.h   | 1 +
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/Communication/uart_communication.cpp b/Communication/uart_communication.cpp
index 46edb81..b310111 100644
--- a/Communication/uart_communication.cpp
+++ b/Communication/uart_communication.cpp
@@ -16,7 +16,7 @@ void LFR_UART::openFile(const char *fileName) {
 
 int LFR_UART::writeDataToFile(int8_t *buff, uint32_t bufferLength) {
     //std::cout << "Sending uart: " << std::bitset<8>(buff[0]) << std::endl;
-    std::cout << "Sending uart: " << std::bitset<8>(buff[0]) << ", " << std::bitset<8>(buff[1]) << ", " << std::bitset<8>(buff[2]) << ", " << std::bitset<8>(buff[3]) << " csum:  "  << std::bitset<8>(buff[4]) << std::endl;
+    std::cout << "Sending Uart: " << std::bitset<8>(buff[0]) << ", " << std::bitset<8>(buff[1]) << ", " << std::bitset<8>(buff[2]) << ", " << std::bitset<8>(buff[3]) << " csum:  "  << std::bitset<8>(buff[4]) << std::endl;
     return write(this->fileDescriptor, buff, bufferLength);
 }
 
@@ -66,7 +66,7 @@ double LFR_UART::byteToDouble(int8_t in){
 void LFR_UART::sendTelegram(double wheel1, double wheel2, double wheel3, double wheel4){
     std::chrono::milliseconds now = std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::system_clock::now().time_since_epoch());
     unsigned int deltaMs = static_cast<unsigned int>((now-last).count());
-    if (deltaMs < 250)
+    if (deltaMs < 250 && (std::fabs(wheel1)+std::fabs(wheel2)+std::fabs(wheel3)+std::fabs(wheel4)) > 0.0005)
     {
         std::cout << "Too fast" << std::endl;
         return;
diff --git a/Communication/uart_communication.h b/Communication/uart_communication.h
index 6c84a7f..42086c9 100644
--- a/Communication/uart_communication.h
+++ b/Communication/uart_communication.h
@@ -12,6 +12,7 @@
 #include <exception>
 #include <iostream>
 #include <chrono>
+#include <cmath>
 
 #include <bitset>