added uwb_timer

PurdueLunabotics · Oct 25, 2023 · a518d02 · a518d02
1 parent 1376c05
commit a518d02
Showing 1 changed file with 6 additions and 3 deletions.
diff --git a/lunabot_embedded/firmware/teensy_main/teensy_main.ino b/lunabot_embedded/firmware/teensy_main/teensy_main.ino
@@ -5,9 +5,10 @@
 #include <robot.hpp>
 #include <stdio.h>
 
-#define TX_PERIOD 10             // ms
-#define ENC_TRANSFER_PERIOD 1000 // microsec
-#define CURR_UPDATE_PERIOD 8     // ms
+#define TX_PERIOD 10               // ms
+#define ENC_TRANSFER_PERIOD 1000   // microsec
+#define UWB_TRANSFER_PERIOD 10'000 // microsec
+#define CURR_UPDATE_PERIOD 8       // ms
 
 RobotState state = RobotState_init_zero;
 RobotEffort effort = RobotEffort_init_zero;
@@ -49,13 +50,15 @@ void send() {
   pb_encode(&stream, RobotState_fields, &state);
 }
 IntervalTimer enc_timer;
+IntervalTimer uwb_timer;
 
 void setup() {
   STMotorInterface::init_serial(ST_SERIAL, ST_BAUD_RATE);
   CurrentSensorBus::init_ads1115();
   EncoderBus::init();
 
   enc_timer.begin(EncoderBus::transfer, ENC_TRANSFER_PERIOD);
+  uwb_timer.begin(UWBBus::transfer, UWB_TRANSFER_PERIOD);
 
   // disable timeout
   MC1.setTimeout(0);