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Faster!

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Tim Zeuner 1 year ago
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94e9c4ba7a
1 changed files with 1 additions and 1 deletions
  1. 1
    1
      Communication/uart_communication.cpp

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Communication/uart_communication.cpp View File

void LFR_UART::sendTelegram(double wheel1, double wheel2, double wheel3, double wheel4){ void LFR_UART::sendTelegram(double wheel1, double wheel2, double wheel3, double wheel4){
std::chrono::milliseconds now = std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::system_clock::now().time_since_epoch()); std::chrono::milliseconds now = std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::system_clock::now().time_since_epoch());
unsigned int deltaMs = static_cast<unsigned int>((now-last).count()); unsigned int deltaMs = static_cast<unsigned int>((now-last).count());
if (deltaMs < 250 && (std::fabs(wheel1)+std::fabs(wheel2)+std::fabs(wheel3)+std::fabs(wheel4)) > 0.0005)
if (deltaMs < 50 && (std::fabs(wheel1)+std::fabs(wheel2)+std::fabs(wheel3)+std::fabs(wheel4)) > 0.0005)
{ {
std::cout << "Too fast" << std::endl; std::cout << "Too fast" << std::endl;
return; return;

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