yanorei32/hello-gm6020
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Drive more smoothly

Browse Source
This commit is contained in:
yanorei32 2023-10-11 01:50:39 +09:00
parent 3eb9321b27
commit bf82cfe6dc
1 changed files with 5 additions and 7 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

12
src/main.rs
View File

@ -70,11 +70,9 @@ mod app {
nb::block!(can.enable_non_blocking()).unwrap(); nb::block!(can.enable_non_blocking()).unwrap();
let (can_tx, can_rx, _) = can.split(); let (can_tx, can_rx, _) = can.split();
let can_tx_queue = BinaryHeap::new(); let can_tx_queue = BinaryHeap::new();
let delay = ctx.device.TIM2.delay_us(&clocks); let delay = ctx.device.TIM2.delay_us(&clocks);
let mut gpioc = ctx.device.GPIOC.split(); let mut gpioc = ctx.device.GPIOC.split();
let led = gpioc.pc13.into_push_pull_output(&mut gpioc.crh); let led = gpioc.pc13.into_push_pull_output(&mut gpioc.crh);
@ -109,21 +107,21 @@ mod app {
loop { loop {
for sign in [1, -1] { for sign in [1, -1] {
for speed in (0..=30) for speed in (0..=120)
.chain((0..10).map(|_| 30)) .chain((0..40).map(|_| 120))
.chain((0..=30).map(|i| 30 - i)) .chain((0..=120).map(|i| 120 - i))
{ {
tx_queue.lock(|mut tx_queue| { tx_queue.lock(|mut tx_queue| {
enqueue_frame( enqueue_frame(
&mut tx_queue, &mut tx_queue,
Frame::new_data( Frame::new_data(
StandardId::new(0x1FF).unwrap(), StandardId::new(0x1FF).unwrap(),
speed2array(speed * 1000 * sign), speed2array(speed * 250 * sign),
), ),
); );
}); });
cx.local.delay.delay(100.millis()); cx.local.delay.delay(25.millis());
} }
} }
} }