From 8733ecd9b767ddb6407611f3d83488f922235bb4 Mon Sep 17 00:00:00 2001
From: Rune Harlyk <rune@harlyk.dk>
Date: Sat, 29 Mar 2025 00:01:19 +0100
Subject: [PATCH] =?UTF-8?q?=E2=8F=B1=EF=B8=8F=20Updates=20the=20frequency?=
 =?UTF-8?q?=20of=20main=20control=20loop=20from=20100=20hz=20to=20200?=
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---
 esp32/src/main.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/esp32/src/main.cpp b/esp32/src/main.cpp
index 1151f30..c02ce3e 100644
--- a/esp32/src/main.cpp
+++ b/esp32/src/main.cpp
@@ -5,7 +5,7 @@ DRAM_ATTR Spot spot;
 void IRAM_ATTR SpotControlLoopEntry(void*) {
     ESP_LOGI("main", "Setup complete now runing tsk");
     TickType_t xLastWakeTime = xTaskGetTickCount();
-    const TickType_t xFrequency = 10 / portTICK_PERIOD_MS;
+    const TickType_t xFrequency = 5 / portTICK_PERIOD_MS;
     for (;;) {
         spot.readSensors();
         spot.planMotion();