From b7882ee6cfcec18a4d56d9683f8d1ad713385113 Mon Sep 17 00:00:00 2001
From: Rune Harlyk <rune@harlyk.dk>
Date: Sat, 16 Nov 2024 00:32:17 +0100
Subject: [PATCH] =?UTF-8?q?=F0=9F=AA=A1=20Makes=20control=20loop=20frequen?=
 =?UTF-8?q?cy=20const=20value?=
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---
 esp32/src/main.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/esp32/src/main.cpp b/esp32/src/main.cpp
index b8a9ba8..65740c7 100644
--- a/esp32/src/main.cpp
+++ b/esp32/src/main.cpp
@@ -4,12 +4,13 @@ DRAM_ATTR Spot spot;
 
 void IRAM_ATTR SpotControlLoopEntry(void*) {
     TickType_t xLastWakeTime = xTaskGetTickCount();
+    const TickType_t xFrequency = 10 / portTICK_PERIOD_MS;
     for (;;) {
         spot.readSensors();
         spot.planMotion();
         spot.updateActuators();
         spot.emitTelemetry();
-        vTaskDelayUntil(&xLastWakeTime, 10 / portTICK_PERIOD_MS);
+        vTaskDelayUntil(&xLastWakeTime, xFrequency);
     }
 }