Diff: main.cpp

Revision:

49:b4fd52d244f9

Parent:

46:0be634ee10e8

Child:

50:5d2176b93a65

--- a/main.cpp	Thu Nov 01 18:02:51 2018 +0000
+++ b/main.cpp	Mon Nov 05 05:59:14 2018 +0000
@@ -320,15 +320,18 @@
     }
     */
     
-    double main_cur_angle = main_motor.get_current_angle();
-    double sec_cur_angle = sec_motor.get_current_angle();
-
-    double main_target, sec_target;
-
-    end_effector_control(speed_x, speed_y, main_cur_angle, sec_cur_angle, main_target, sec_target);
-
-    main_motor.set_target_angle(main_target);
-    sec_motor.set_target_angle(sec_target);
+    if (speed_x || speed_y) {
+        
+        double main_cur_angle = main_motor.get_current_angle();
+        double sec_cur_angle = sec_motor.get_current_angle();
+    
+        double main_target, sec_target;
+    
+        end_effector_control(speed_x, speed_y, main_cur_angle, sec_cur_angle, main_target, sec_target);
+    
+        main_motor.set_target_angle(main_target);
+        sec_motor.set_target_angle(sec_target);
+    }
 
     /*
     screen.get_screen_handle()->setTextCursor(0, 0);