From 6ce8a12bf818f88692300e74ba3d319c7e107921 Mon Sep 17 00:00:00 2001
From: yanorei32 <yanorei@hotmail.co.jp>
Date: Wed, 11 Oct 2023 02:54:38 +0900
Subject: [PATCH] Fix for readability

---
 src/main.rs | 35 +++++++++++++++++------------------
 1 file changed, 17 insertions(+), 18 deletions(-)

diff --git a/src/main.rs b/src/main.rs
index b306579..c7f7238 100644
--- a/src/main.rs
+++ b/src/main.rs
@@ -14,7 +14,7 @@ mod app {
         can::Can,
         device::TIM2,
         gpio::{Output, Pin},
-        pac::{CAN1, Interrupt},
+        pac::{Interrupt, CAN1},
         prelude::*,
         timer::Delay,
     };
@@ -105,26 +105,25 @@ mod app {
     fn idle(cx: idle::Context) -> ! {
         let mut tx_queue = cx.shared.can_tx_queue;
 
-        loop {
-            for sign in [1, -1] {
-                for speed in (0..=120)
-                    .chain((0..40).map(|_| 120))
-                    .chain((0..=120).map(|i| 120 - i))
-                {
-                    tx_queue.lock(|mut tx_queue| {
-                        enqueue_frame(
-                            &mut tx_queue,
-                            Frame::new_data(
-                                StandardId::new(0x1FF).unwrap(),
-                                speed2array(speed * 250 * sign),
-                            ),
-                        );
-                    });
+        for sign in [1, -1].iter().cycle() {
+            for speed in (0..=30_000)
+                .step_by(250)
+                .chain(core::iter::repeat(30_000).take(1000 / 25))
+                .chain((0..=30_000).step_by(250).map(|v| 30_000 - v))
+                .map(|v| v * sign)
+            {
+                tx_queue.lock(|mut tx_queue| {
+                    enqueue_frame(
+                        &mut tx_queue,
+                        Frame::new_data(StandardId::new(0x1FF).unwrap(), speed2array(speed)),
+                    );
+                });
 
-                    cx.local.delay.delay(25.millis());
-                }
+                cx.local.delay.delay(25.millis());
             }
         }
+
+        unreachable!()
     }
 
     #[task(binds = USB_HP_CAN_TX, local = [can_tx, led], shared = [can_tx_queue, tx_count])]