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Suppression des 200 ms d'attente côté main controler

This commit is contained in:
Samuel 2026-02-25 21:49:55 +01:00
parent 1b1402c427
commit adf03bd9ee
1 changed files with 13 additions and 5 deletions
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18
program/main_controller/src/robot.c
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@ -2,6 +2,7 @@
#include <pico/stdlib.h>
#include <pico/cyw43_arch.h>
#include <pico/time.h>
#include <time.h>
#include "i2c/headers/i2c_master.h"
#include "i2c/headers/mcp23017.h"
@ -88,6 +89,8 @@ static inline void update_time(void)
void robot_handle_inputs_outputs(void)
{
static bool led_state=false;
static uint32_t temps_ms_old =0, timer_200_ms=0;
uint32_t temps_ms;
update_time();
cyw43_arch_poll();
@ -97,11 +100,16 @@ void robot_handle_inputs_outputs(void)
motion_control_update();
mcp23017_update();
sleep_ms(200);
led_state= !led_state;
uint8_t data[] = {0x02, led_state};
int ret = i2c_write_blocking(I2C_MASTER_INSTANCE, 0x09, data, 2, false);
temps_ms = to_ms_since_boot(get_absolute_time());
timer_200_ms += temps_ms - temps_ms_old;
temps_ms_old = temps_ms;
if(timer_200_ms > 200){
timer_200_ms = 0;
led_state= !led_state;
uint8_t data[] = {0x02, led_state};
int ret = i2c_write_blocking(I2C_MASTER_INSTANCE, 0x09, data, 2, false);
}
}
void robot_deinit(void)