yanorei32/hello-gm6020
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yanorei32 2023-10-11 01:50:39 +09:00
parent 3eb9321b27
commit bf82cfe6dc
1 changed files with 5 additions and 7 deletions
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12
src/main.rs
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@ -70,11 +70,9 @@ mod app {
nb::block!(can.enable_non_blocking()).unwrap();
let (can_tx, can_rx, _) = can.split();
let can_tx_queue = BinaryHeap::new();
let delay = ctx.device.TIM2.delay_us(&clocks);
let mut gpioc = ctx.device.GPIOC.split();
let led = gpioc.pc13.into_push_pull_output(&mut gpioc.crh);
@ -109,21 +107,21 @@ mod app {
loop {
for sign in [1, -1] {
for speed in (0..=30)
.chain((0..10).map(|_| 30))
.chain((0..=30).map(|i| 30 - i))
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 * 1000 * sign),
speed2array(speed * 250 * sign),
),
);
});
cx.local.delay.delay(100.millis());
cx.local.delay.delay(25.millis());
}
}
}