From e19ed5dd921b9a9880b73a34546d86f5d6feadb1 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= <bjoern.ellensohn@gmail.com>
Date: Fri, 18 Aug 2023 10:38:21 +0200
Subject: [PATCH] optimize

---
 rmp220_middleware/rmp220_middleware.py | 9 ++++++---
 1 file changed, 6 insertions(+), 3 deletions(-)

diff --git a/rmp220_middleware/rmp220_middleware.py b/rmp220_middleware/rmp220_middleware.py
index 0dfd8f0..2465b0a 100644
--- a/rmp220_middleware/rmp220_middleware.py
+++ b/rmp220_middleware/rmp220_middleware.py
@@ -58,13 +58,16 @@ class StateMachineNode(Node):
         self.get_logger().info('Disabling chassis...')
 
     def joy_callback(self, msg):
-        # if self.state == State.DISABLED and msg.buttons[7] == 1:  # Joystick button 'start'
-        if msg.buttons[7] == 1:  # Joystick button 'start'
+        start_button = msg.buttons[7] # Joystick button 'start'
+        select_button = msg.buttons[6] # Joystick button 'select'
+
+        # if self.state == State.DISABLED and msg.buttons[7] == 1:  
+        if start_button == 1:  # Joystick button 'start'
             self.state = State.ENABLED
             self.get_logger().info("State: ENABLED (Button 'start')")
             self.enable_chassis()
         # if self.state == State.ENABLED and msg.buttons[6] == 1:  # Joystick button 'select'
-        if msg.buttons[6] == 1:  # Joystick button 'select'
+        if select_button == 1:  # Joystick button 'select'
             self.state = State.DISABLED
             self.get_logger().info("State: DISABLED (Button 'select')")
             self.disable_chassis()