Stay in control mode at (0, 0) speed

Cargo.lock

@@ -305,7 +305,7 @@ dependencies = [
 
 [[package]]
 name = "controller"
-version = "1.3.0"
+version = "1.3.1"
 dependencies = [
  "bootloader-params",
  "build-support",

README.md

@@ -240,8 +240,9 @@ then the right motor coefficients.
 - 0x21: K_I (4 bytes, or 2×4 bytes). Default value is 0x0000_0000 (0.01171875)
 - 0x22: K_D (4 bytes, or 2×4 bytes). Default value is 0x0000_0000 (0.0)
 
-Changing the coefficients will take effect only when the controlled mode
-is off, for example by setting the motors to standby mode.
+Changing the coefficients will take effect only when the controlled
+mode is off, for example by setting the motors to standby mode. Even a
+speed of (0, 0) in controlled mode will not use the new coefficients.
 
 ## 0x26 PID I accumulator (R)
 
@@ -269,8 +270,6 @@ then right), as two 32 bit signed numbers with a 24 bit integer part.
   each). The unit is the number of ticks per 100th of seconds.
 - Each motor will be controlled by a separate PID with shared
   coefficients.
-- Using a speed of (0, 0) will exit the controlled mode and switch to
-  raw mode. This allows the PID coefficients to be updated if needed.
 - Speed will be returned as (-32768, -32768) if controlled mode is not
   active.
 

controller/Cargo.toml

@@ -4,7 +4,7 @@ description = "Firmware for DC Motor Driver Hat DFR0592"
 authors.workspace = true
 edition.workspace = true
 license.workspace = true
-version = "1.3.0"  # Update in python/controller.py and tele0592/src/controller.rs as well
+version = "1.3.1"  # Update in python/controller.py and tele0592/src/controller.rs as well
 
 [[bin]]
 name = "controller-firmware"

controller/src/logic/mod.rs

@@ -185,8 +185,7 @@ fn process_command(
             response.push_i32(left_error).unwrap();
             response.push_i32(right_error).unwrap();
         }
-        &[CMD_RAW_MOTOR_SPEED, left, right]
-        | &[CMD_CONTROLLED_MOTOR_SPEED, left @ 0, 0, right @ 0, 0] => {
+        &[CMD_RAW_MOTOR_SPEED, left, right] => {
             pid_control::disable_controlled_mode();
             if motor_control::set_speed(left, right)
                 .now_or_never()