mirror of
https://github.com/modelec/odo_STM32.git
synced 2026-03-18 21:30:38 +01:00
31 lines
470 B
C++
31 lines
470 B
C++
/*
|
|
* setup.cpp
|
|
*
|
|
* Created on: Sep 18, 2025
|
|
* Author: Modelec
|
|
*/
|
|
|
|
#include <setup.h>
|
|
#include <modelec.h>
|
|
#include "commSTM.h"
|
|
|
|
DiffBot bot = DiffBot(Point());
|
|
|
|
void ModelecOdometrySetup() {
|
|
bot.setup();
|
|
}
|
|
|
|
uint32_t lastTick = 0;
|
|
|
|
void ModelecOdometryLoop() {
|
|
uint32_t currentTick = HAL_GetTick();
|
|
float actualDt = (currentTick - lastTick) / 1000.0f;
|
|
|
|
if (actualDt <= 0.0f) return;
|
|
|
|
USB_Comm_Process();
|
|
bot.update(actualDt);
|
|
|
|
lastTick = currentTick;
|
|
}
|