Darkages/SpotMicroESP32-Leika
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⏱️ Updates the frequency of main control loop from 100 hz to 200

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Rune Harlyk
2025-03-29 00:01:19 +01:00
committed by Rune Harlyk
parent fba531d3e8
commit 8733ecd9b7
1 changed files with 1 additions and 1 deletions
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esp32/src/main.cpp
+1 -1
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@@ -5,7 +5,7 @@ DRAM_ATTR Spot spot;
void IRAM_ATTR SpotControlLoopEntry(void*) { void IRAM_ATTR SpotControlLoopEntry(void*) {
ESP_LOGI("main", "Setup complete now runing tsk"); ESP_LOGI("main", "Setup complete now runing tsk");
TickType_t xLastWakeTime = xTaskGetTickCount(); TickType_t xLastWakeTime = xTaskGetTickCount();
const TickType_t xFrequency = 10 / portTICK_PERIOD_MS; const TickType_t xFrequency = 5 / portTICK_PERIOD_MS;
for (;;) { for (;;) {
spot.readSensors(); spot.readSensors();
spot.planMotion(); spot.planMotion();