🎨 Replaces delay with vTaskDelay

esp32/include/peripherals/gesture.h

@@ -49,12 +49,12 @@ class PAJ7620U2 {
         uint8_t f1 = 0, f0 = 0, t0 = 0;
         if (readReg(REG_GES_FLAG_1, &f1, 1) != 1) return eGestureNone;
         if (f1) {
-            delay(highRate ? QUIT_MS / 5 : QUIT_MS);
+            vTaskDelay(highRate ? QUIT_MS / 5 : QUIT_MS / portTICK_PERIOD_MS);
             return eGestureWave;
         }
         if (readReg(REG_GES_FLAG_0, &f0, 1) != 1) return eGestureNone;
         if (!highRate) {
-            delay(ENTRY_MS);
+            vTaskDelay(ENTRY_MS / portTICK_PERIOD_MS);
             if (readReg(REG_GES_FLAG_0, &t0, 1) == 1) f0 |= t0;
         }
         if (f0 & 0x01) return eGestureRight;

esp32/include/task_manager.h

@@ -172,7 +172,7 @@ class CPUBurnerTask {
                 esp_task_wdt_reset();
             }
 
-            delay(idle_time);
+            vTaskDelay(idle_time / portTICK_PERIOD_MS);
         }
     }
 

esp32/src/peripherals/peripherals.cpp

@@ -120,7 +120,7 @@ bool Peripherals::readGesture() {
 void Peripherals::readSonar() {
 #if FT_ENABLED(USE_USS)
     _left_distance = _left_sonar->ping_cm();
-    delay(50);
+    vTaskDelay(50 / portTICK_PERIOD_MS);
     _right_distance = _right_sonar->ping_cm();
 #endif
 }

esp32/src/system_service.cpp

@@ -49,11 +49,11 @@ void restart() {
     xTaskCreate(
         [](void *pvParameters) {
             for (;;) {
-                delay(250);
+                vTaskDelay(250 / portTICK_PERIOD_MS);
                 MDNS.end();
-                delay(100);
+                vTaskDelay(100 / portTICK_PERIOD_MS);
                 WiFi.disconnect(true);
-                delay(500);
+                vTaskDelay(500 / portTICK_PERIOD_MS);
                 ESP.restart();
             }
         },
@@ -64,11 +64,11 @@ void sleep() {
     xTaskCreate(
         [](void *pvParameters) {
             for (;;) {
-                delay(250);
+                vTaskDelay(250 / portTICK_PERIOD_MS);
                 MDNS.end();
-                delay(100);
+                vTaskDelay(100 / portTICK_PERIOD_MS);
                 WiFi.disconnect(true);
-                delay(500);
+                vTaskDelay(500 / portTICK_PERIOD_MS);
 
                 uint64_t bitmask = (uint64_t)1 << (WAKEUP_PIN_NUMBER);
 

esp32/src/wifi_service.cpp

@@ -26,7 +26,7 @@ void WiFiService::begin() {
 
     if (state().wifiSettings.size() == 1) {
         configureNetwork(state().wifiSettings[0]);
-        delay(500);
+        vTaskDelay(500 / portTICK_PERIOD_MS);
     }
 }
 

esp32/test/gait_performance.cpp

@@ -27,7 +27,7 @@ void test_gaitPlanner_calculateStep_time() {
 }
 
 void setup() {
-    delay(2000); // Allow time for Serial to initialize if running on an ESP32
+    vTaskDelay(2000 / portTICK_PERIOD_MS); // Allow time for Serial to initialize if running on an ESP32
     UNITY_BEGIN();
     RUN_TEST(test_gaitPlanner_calculateStep_time);
     UNITY_END();