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Reliability fixes for wired comms

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This commit is contained in:
Johnathon Slightham
2026-03-02 11:20:45 -05:00
parent b1ca6da6a1
commit da858d1ca6
4 changed files with 27 additions and 11 deletions
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6
main/control/DCMotorActuator.cpp
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@@ -62,8 +62,10 @@ DCMotorActuator::DCMotorActuator() {
this->m_integral = 0;
this->m_last_error = 0;
xTaskCreate(reinterpret_cast<TaskFunction_t>(pid_task), "pid_task", 3072, this, 1,
&this->m_pid_task);
// Pin the PID task to Core 1 so it doesn't compete with the RMT driver,
// which runs its ISR and internal tasks on Core 0.
xTaskCreatePinnedToCore(reinterpret_cast<TaskFunction_t>(pid_task), "pid_task", 3072, this, 1,
&this->m_pid_task, 1);
}
DCMotorActuator::~DCMotorActuator() {