From b866ae9d4df76f908776688105c09b5f0481f1b9 Mon Sep 17 00:00:00 2001
From: osiu97 <osiu97@gmail.com>
Date: Wed, 8 Jul 2026 21:22:07 +0200
Subject: [PATCH] fix erratic/hesitant

---
 web/js/motion-effects.js | 23 +++++++++++++++++------
 1 file changed, 17 insertions(+), 6 deletions(-)

diff --git a/web/js/motion-effects.js b/web/js/motion-effects.js
index f0965fd..6058707 100644
--- a/web/js/motion-effects.js
+++ b/web/js/motion-effects.js
@@ -34,9 +34,20 @@ export const MotionEffects = {
     let delay = 0;
     let newHasHesitated = hasHesitated;
 
-    if (target.mode === 'hesitant' && target.fraction >= 0.45 && !hasHesitated) {
-      delay = 800; // Noticeably pause
-      newHasHesitated = true;
+    if (target.mode === 'hesitant') {
+      if (target.fraction >= 0.4 && hasHesitated === false) {
+        // Slow down massively instead of stopping
+        if (BLE.isConnected()) {
+          try { await BLE.write(`SPD:${Math.floor(Math.max(50, Settings.speed * 0.2))}`); } catch(e){}
+        }
+        newHasHesitated = true; // Started hesitation
+      } else if (target.fraction >= 0.7 && hasHesitated === true) {
+        // Speed back up
+        if (BLE.isConnected()) {
+          try { await BLE.write(`SPD:${Settings.speed}`); } catch(e){}
+        }
+        newHasHesitated = 2; // Finished hesitation
+      }
     } else if (target.mode === 'overshoot_settle') {
       delay = 200; // Brief pause before returning
       if (BLE.isConnected()) {
@@ -48,9 +59,7 @@ export const MotionEffects = {
 
   // Called to determine blending behaviour during queue checks
   getQueueAction(mode, maxDist, blendThreshold) {
-    if (mode === 'erratic') {
-      if (maxDist <= 5) return { action: 'wait', delay: 100 };
-    } else if (mode === 'jumpy') {
+    if (mode === 'jumpy') {
       if (maxDist <= 5) return { action: 'wait', delay: 100 };
     } else {
       if (maxDist <= blendThreshold) return { action: 'blend' };
@@ -82,6 +91,8 @@ export const MotionEffects = {
       count = Math.max(count, Math.ceil(distance / 10)); // fine resolution for sine
     } else if (mode === 'erratic') {
       count = Math.max(count, Math.ceil(distance / 20)); // fewer, larger jumps
+    } else if (mode === 'hesitant') {
+      count = Math.max(count, Math.ceil(distance / 15)); // ensure we get middle waypoints for speed changes
     }
     return Math.max(1, count);
   },