⌚ Adds timing macro

2024-07-14 23:14:07 +02:00
parent c783793b5c
commit 200ea62d95
11 changed files with 41 additions and 62 deletions
@@ -4,6 +4,7 @@
 #include <EventSocket.h>
 #include <TaskManager.h>
 #include <Kinematics.h>
+#include <Timing.h>
 #include <MathUtils.h>

 #define DEFAULT_STATE false
@@ -120,10 +121,9 @@ class MotionService {
    }

    void loop() {
-        if (int currentMillis = millis(); !_lastUpdate || (currentMillis - _lastUpdate) >= MotionInterval) {
-            _lastUpdate = currentMillis;
+        EXECUTE_EVERY_N_MS(MotionInterval, {
            if (updateMotion()) syncAngles();
-        }
+        });
    }

  private: