Drive more smoothly

src/main.rs

@@ -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)
+                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| {
                         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());
                 }
             }
         }