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adding conditions to run things ever x ms

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This commit is contained in:
Thefeli73 2021-04-14 01:54:01 +02:00
parent 40db36a016
commit 053d2b9726
1 changed files with 16 additions and 1 deletions
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17
EENX15_LQR/EENX15_LQR.ino
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@ -1,5 +1,9 @@
#include <Wire.h> #include <Wire.h>
int lastCorrectionTime = 0;
int lastPrintTime = 0;
//temporary variable to measure main loops //temporary variable to measure main loops
int temp_loops; int temp_loops;
@ -100,7 +104,18 @@ void loop() {
gyro_loop(); gyro_loop();
safe_angle = int(round(angle_pitch_output)); safe_angle = int(round(angle_pitch_output));
if(temp_loops>250){ int m = millis();
if (m - lastCorrectionTime >= 20) { //run this code ever 20ms (50hz)
lastCorrectionTime = m;
getSpeed();
setSpeed();
}
if (m - lastPrintTime >= 800) { //run this code ever 800ms (1.25hz)
lastPrintTime = m;
printInfo();
}
}
Serial.println(""); Serial.println("");
Serial.print(" pitch Angle = "); Serial.println(angle_pitch_output); Serial.print(" pitch Angle = "); Serial.println(angle_pitch_output);
Serial.print(" pitch Angle abs = "); Serial.println(abs(safe_angle)); Serial.print(" pitch Angle abs = "); Serial.println(abs(safe_angle));