From 20fd8c9be4e9ff5f72c9f03a8b404b56d9c5fb6d Mon Sep 17 00:00:00 2001
From: Joseph Coffland <joseph@cauldrondevelopment.com>
Date: Mon, 26 Feb 2018 16:17:36 -0800
Subject: [PATCH] Fixed switch debounce bug.

---
 CHANGELOG.md           |  3 +++
 package.json           |  2 +-
 src/avr/src/switch.c   | 12 ++++++------
 src/py/bbctrl/State.py |  2 +-
 4 files changed, 11 insertions(+), 8 deletions(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 13e69b6..ebd69e7 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,6 +1,9 @@
 Buildbotics CNC Controller Firmware Change Log
 ==============================================
 
+## v0.3.16
+ - Fixed switch debounce bug.
+
 ## v0.3.15
  - Suppress warning missing config.json warning after config reset.
  - Fixed EStop reboot loop.
diff --git a/package.json b/package.json
index 208b4d8..b55956c 100644
--- a/package.json
+++ b/package.json
@@ -1,6 +1,6 @@
 {
   "name": "bbctrl",
-  "version": "0.3.15",
+  "version": "0.3.16",
   "homepage": "http://buildbotics.com/",
   "repository": "https://github.com/buildbotics/bbctrl-firmware",
   "license": "GPL-3.0+",
diff --git a/src/avr/src/switch.c b/src/avr/src/switch.c
index 40e3a88..45eb3f7 100644
--- a/src/avr/src/switch.c
+++ b/src/avr/src/switch.c
@@ -29,6 +29,7 @@
 #include "config.h"
 
 #include <stdbool.h>
+#include <stdio.h>
 
 
 typedef struct {
@@ -83,7 +84,7 @@ void switch_rtc_callback() {
 
     // Debounce switch
     bool state = IN_PIN(s->pin);
-    if (state == s->state) s->debounce = 0;
+    if (state == s->state && s->initialized) s->debounce = 0;
     else if ((state && ++s->debounce == SWITCH_DEBOUNCE) ||
              (!state && --s->debounce == -SWITCH_DEBOUNCE)) {
       s->state = state;
@@ -96,16 +97,15 @@ void switch_rtc_callback() {
 
 
 bool switch_is_active(switch_id_t sw) {
-  if (sw < 0 || num_switches <= sw) return false;
-
-  if (!switches[sw].initialized) return false;
+  if (sw < 0 || num_switches <= sw || !switches[sw].initialized) return false;
 
   // NOTE, switch inputs are active lo
   switch (switches[sw].type) {
-  case SW_DISABLED: break; // A disabled switch cannot be active
-  case SW_NORMALLY_OPEN: return !switches[sw].state;
+  case SW_DISABLED:        break; // A disabled switch cannot be active
+  case SW_NORMALLY_OPEN:   return !switches[sw].state;
   case SW_NORMALLY_CLOSED: return switches[sw].state;
   }
+
   return false;
 }
 
diff --git a/src/py/bbctrl/State.py b/src/py/bbctrl/State.py
index f84c0d2..ad630a0 100644
--- a/src/py/bbctrl/State.py
+++ b/src/py/bbctrl/State.py
@@ -158,7 +158,7 @@ class State(object):
         for motor in range(6):
             if not ('%dan' % motor) in self.vars: continue
             motor_axis = 'xyzabc'[self.vars['%dan' % motor]]
-            if motor_axis == axis.lower() and self.vars['%dpm' % motor]:
+            if motor_axis == axis.lower() and self.vars.get('%dpm' % motor, 0):
                 return motor
 
 
-- 
2.27.0