From a518d028652c41e910eee7c17b1fb82792fee84a Mon Sep 17 00:00:00 2001
From: woozydragon <woozydragon@gmail.com>
Date: Tue, 24 Oct 2023 21:15:18 -0400
Subject: [PATCH] added uwb_timer

---
 lunabot_embedded/firmware/teensy_main/teensy_main.ino | 9 ++++++---
 1 file changed, 6 insertions(+), 3 deletions(-)

diff --git a/lunabot_embedded/firmware/teensy_main/teensy_main.ino b/lunabot_embedded/firmware/teensy_main/teensy_main.ino
index 8f5a2428..832e8cea 100644
--- 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;
@@ -49,6 +50,7 @@ void send() {
   pb_encode(&stream, RobotState_fields, &state);
 }
 IntervalTimer enc_timer;
+IntervalTimer uwb_timer;
 
 void setup() {
   STMotorInterface::init_serial(ST_SERIAL, ST_BAUD_RATE);
@@ -56,6 +58,7 @@ void setup() {
   EncoderBus::init();
 
   enc_timer.begin(EncoderBus::transfer, ENC_TRANSFER_PERIOD);
+  uwb_timer.begin(UWBBus::transfer, UWB_TRANSFER_PERIOD);
 
   // disable timeout
   MC1.setTimeout(0);