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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;
}
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();
}