Darkages/SpotMicroESP32-Leika
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🧼 Only write angles once

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This commit is contained in:
Rune Harlyk
2024-11-14 11:40:40 +01:00
parent 0b1c27819e
commit 0cce6075b9
2 changed files with 6 additions and 2 deletions
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esp32/include/spot.h
+1 -1
View File
@@ -68,7 +68,7 @@ class Spot {
// communicate // communicate
void emitTelemetry() { void emitTelemetry() {
if (updatedMotion) EXECUTE_EVERY_N_MS(100, { _motionService.syncAngles(); }); if (updatedMotion) EXECUTE_EVERY_N_MS(100, { _motionService.emitAngles(); });
// _peripherals.loop(); // _peripherals.loop();
EXECUTE_EVERY_N_MS(1000, { _peripherals.emitIMU(); }); EXECUTE_EVERY_N_MS(1000, { _peripherals.emitIMU(); });
// _peripherals.emitSonar(); // _peripherals.emitSonar();
esp32/lib/ESP32-sveltekit/MotionService.h
+5 -1
View File
@@ -90,12 +90,16 @@ class MotionService {
socket.emit(MODE_EVENT, output, String(originId).c_str()); socket.emit(MODE_EVENT, output, String(originId).c_str());
} }
void syncAngles(const String &originId = "", bool sync = false) { void emitAngles(const String &originId = "", bool sync = false) {
char output[100]; char output[100];
snprintf(output, sizeof(output), "[%.1f,%.1f,%.1f,%.1f,%.1f,%.1f,%.1f,%.1f,%.1f,%.1f,%.1f,%.1f]", angles[0], snprintf(output, sizeof(output), "[%.1f,%.1f,%.1f,%.1f,%.1f,%.1f,%.1f,%.1f,%.1f,%.1f,%.1f,%.1f]", angles[0],
angles[1], angles[2], angles[3], angles[4], angles[5], angles[6], angles[7], angles[8], angles[9], angles[1], angles[2], angles[3], angles[4], angles[5], angles[6], angles[7], angles[8], angles[9],
angles[10], angles[11]); angles[10], angles[11]);
socket.emit(ANGLES_EVENT, output, originId.c_str()); socket.emit(ANGLES_EVENT, output, originId.c_str());
}
void syncAngles(const String &originId = "", bool sync = false) {
emitAngles(originId, sync);
_servoController->setAngles(angles); _servoController->setAngles(angles);
} }