🌹 Switches to an explicit sense plan act flow

esp32/src/main.cpp

@@ -1,16 +1,27 @@
-#include <ESP32SvelteKit.h>
+#include <spot.h>
 #include <PsychicHttpServer.h>
 
-#define SERIAL_BAUD_RATE 115200
-
 DRAM_ATTR PsychicHttpServer server;
 
-DRAM_ATTR ESP32SvelteKit spot(&server);
+DRAM_ATTR Spot spot(&server);
+
+void IRAM_ATTR SpotControlLoopEntry(void*) {
+    TickType_t xLastWakeTime = xTaskGetTickCount();
+    for (;;) {
+        spot.readSensors();
+        spot.planMotion();
+        spot.updateActuators();
+        spot.emitTelemetry();
+        vTaskDelayUntil(&xLastWakeTime, 10 / portTICK_PERIOD_MS);
+    }
+}
 
 void setup() {
-    Serial.begin(SERIAL_BAUD_RATE);
+    Serial.begin(115200);
 
-    spot.begin();
+    spot.initialize();
+
+    g_taskManager.createTask(SpotControlLoopEntry, "Spot control task", 4096, nullptr, 3);
 }
 
 void loop() { vTaskDelete(NULL); }