Bugfix/gamepad teleop dexwrist ctrl #320
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hello-fazil
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May 20, 2024
Co-authored-by: Mohamed Fazil <97637212+hello-fazil@users.noreply.github.com>
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The gamepad D-pad can switch between controlling the head pitch and pan, and the dexwrist pitch and roll with the X button. After the button is pressed it is disabled for a time to prevent rapid toggles while holding the button. When the disable is measured in loop increments the time of disable can be inconsistent and cause occasional double toggles.
This PR changes the measure of disable time from loop iterations to a difference of two measures of
time.perf_counter().