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turn timings into variables

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This commit is contained in:
Thefeli73 2021-04-14 02:49:29 +02:00
parent 8855c84cfc
commit 3b0f8f4faf
1 changed files with 4 additions and 2 deletions
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6
EENX15_LQR/EENX15_LQR.ino
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@ -4,6 +4,8 @@
int lastCorrectionTime = 0; int lastCorrectionTime = 0;
int lastPrintTime = 0; int lastPrintTime = 0;
static int fastTimer = 80;
static int slowTimer = 800;
//lqr stuff //lqr stuff
const uint8_t statesNumber = 4; const uint8_t statesNumber = 4;
@ -107,12 +109,12 @@ void loop() {
int m = millis(); int m = millis();
if (m - lastCorrectionTime >= 20) { //run this code ever 20ms (50hz) if (m - lastCorrectionTime >= fastTimer) { //run this code ever 80ms (12.5hz)
lastCorrectionTime = m; lastCorrectionTime = m;
getSpeed(); getSpeed();
setSpeed(); setSpeed();
} }
if (m - lastPrintTime >= 800) { //run this code ever 800ms (1.25hz) if (m - lastPrintTime >= slowTimer) { //run this code ever 800ms (1.25hz)
lastPrintTime = m; lastPrintTime = m;
printInfo(); printInfo();
} }