From adf03bd9ee01c691f8d7acfb91b66355fe49bccb Mon Sep 17 00:00:00 2001 From: Samuel Date: Wed, 25 Feb 2026 21:49:55 +0100 Subject: [PATCH] =?UTF-8?q?Suppression=20des=20200=20ms=20d'attente=20c?= =?UTF-8?q?=C3=B4t=C3=A9=20main=20controler?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- program/main_controller/src/robot.c | 18 +++++++++++++----- 1 file changed, 13 insertions(+), 5 deletions(-) diff --git a/program/main_controller/src/robot.c b/program/main_controller/src/robot.c index 8d0f927..249739d 100644 --- a/program/main_controller/src/robot.c +++ b/program/main_controller/src/robot.c @@ -2,6 +2,7 @@ #include #include +#include #include #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)