🪡 Makes control loop frequency const value

2024-11-16 00:32:17 +01:00
parent d8ca913188
commit b7882ee6cf
1 changed files with 2 additions and 1 deletions
@@ -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);
    }
 }