From 2359ff97ae9d0e02382ebb5b8782536e3a33cff3 Mon Sep 17 00:00:00 2001 From: Ulysse Cura Date: Mon, 9 Feb 2026 18:57:03 +0100 Subject: [PATCH] More clarity --- program/main_controller/src/robot.c | 30 ++++++++++++++--------------- 1 file changed, 15 insertions(+), 15 deletions(-) diff --git a/program/main_controller/src/robot.c b/program/main_controller/src/robot.c index 976c495..d29197a 100644 --- a/program/main_controller/src/robot.c +++ b/program/main_controller/src/robot.c @@ -44,43 +44,41 @@ void robot_init(void) led_state = !led_state; } - printf("robot.is_running : %d\n", robot.is_running); } static inline void update_time(void) { - static float last_time = 0.0; - float start_time = (float)clock() * 1000.0f / (float)CLOCKS_PER_SEC; - robot.delta_time_ms = start_time - last_time; - last_time = start_time; + static float last_time_ms = 0.0; + float start_time_ms = (float)clock() * 1000.0f / (float)CLOCKS_PER_SEC; + robot.delta_time_ms = start_time_ms - last_time_ms; + last_time_ms = start_time_ms; - static float elapsed_time = 0.0f; - elapsed_time += robot.delta_time_ms; + static float elapsed_time_ms = 0.0f; + elapsed_time_ms += robot.delta_time_ms; static bool led_state = false; - if(elapsed_time >= 1000.0f) + if(elapsed_time_ms >= 1000.0f) { - elapsed_time = 0.0f; - cyw43_arch_gpio_put(CYW43_WL_GPIO_LED_PIN, led_state); + elapsed_time_ms = 0.0f; led_state = !led_state; } } void robot_handle_inputs_outputs(void) { - cyw43_arch_poll(); - update_time(); - //gyro_update(); + cyw43_arch_poll(); - //i2c_update_motion_control(); + gyro_update(); + + //update_motion_control(); //i2c_update_servo_motors(); - //mcp23017_update(); + mcp23017_update(); tight_loop_contents(); } @@ -88,6 +86,8 @@ void robot_handle_inputs_outputs(void) void robot_deinit(void) { udp_client_deinit(); + cyw43_arch_deinit(); + i2c_master_deinit(); }