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main_robot_2025-2026
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This commit is contained in:
Ulysse Cura 2026-02-09 18:57:03 +01:00
parent da2f634634
commit 2359ff97ae
1 changed files with 15 additions and 15 deletions
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30
program/main_controller/src/robot.c
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@ -44,43 +44,41 @@ void robot_init(void)
led_state = !led_state; led_state = !led_state;
} }
printf("robot.is_running : %d\n", robot.is_running);
} }
static inline void update_time(void) static inline void update_time(void)
{ {
static float last_time = 0.0; static float last_time_ms = 0.0;
float start_time = (float)clock() * 1000.0f / (float)CLOCKS_PER_SEC; float start_time_ms = (float)clock() * 1000.0f / (float)CLOCKS_PER_SEC;
robot.delta_time_ms = start_time - last_time; robot.delta_time_ms = start_time_ms - last_time_ms;
last_time = start_time; last_time_ms = start_time_ms;
static float elapsed_time = 0.0f; static float elapsed_time_ms = 0.0f;
elapsed_time += robot.delta_time_ms; elapsed_time_ms += robot.delta_time_ms;
static bool led_state = false; 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); cyw43_arch_gpio_put(CYW43_WL_GPIO_LED_PIN, led_state);
elapsed_time_ms = 0.0f;
led_state = !led_state; led_state = !led_state;
} }
} }
void robot_handle_inputs_outputs(void) void robot_handle_inputs_outputs(void)
{ {
cyw43_arch_poll();
update_time(); update_time();
//gyro_update(); cyw43_arch_poll();
//i2c_update_motion_control(); gyro_update();
//update_motion_control();
//i2c_update_servo_motors(); //i2c_update_servo_motors();
//mcp23017_update(); mcp23017_update();
tight_loop_contents(); tight_loop_contents();
} }
@ -88,6 +86,8 @@ void robot_handle_inputs_outputs(void)
void robot_deinit(void) void robot_deinit(void)
{ {
udp_client_deinit(); udp_client_deinit();
cyw43_arch_deinit(); cyw43_arch_deinit();
i2c_master_deinit(); i2c_master_deinit();
} }