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Reduce DataLink latency

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This commit is contained in:
Johnathon Slightham
2026-01-27 22:16:24 -05:00
committed by Johnathon Slightham
parent b9c6a99260
commit 2e9004ee34
25 changed files with 801 additions and 757 deletions
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3
main/control/Servo1Actuator.cpp
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@@ -9,6 +9,7 @@
#include "driver/ledc.h"
#include "flatbuffers_generated/SensorMessage_generated.h"
#include "util/number_utils.h"
#include "esp_log.h"
#define LOW_DUTY 200
#define HIGH_DUTY 1000
@@ -44,7 +45,7 @@ void Servo1Actuator::actuate(uint8_t *cmd) {
util::mapRange<int32_t>(angleControlCmd->angle(), 0, 180, LOW_DUTY, HIGH_DUTY);
m_target = angleControlCmd->angle();
std::cout << "actuating to " << angleControlCmd->angle() << std::endl;
ESP_LOGI("TMP", "actuating to %d", angleControlCmd->angle());
ESP_ERROR_CHECK(ledc_set_duty(LEDC_LOW_SPEED_MODE, LEDC_CHANNEL_0, newDuty));
ESP_ERROR_CHECK(ledc_update_duty(LEDC_LOW_SPEED_MODE, LEDC_CHANNEL_0));