Change 300ms time delay to a while loop #341
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src/TunePID.cpp
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| std::this_thread::sleep_for(300ms); // wait for encoder position data to arrive | ||
| int32_t starting_angle = can::motor::getMotorPosition(serial); | ||
| time_point<steady_clock> start = steady_clock::now(); | ||
| int timeout = 300; // in milliseconds |
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Quick couple of things, since this int is constant it should really be constexpr int timeout = 300ms. Note the ms at the end so you don't have to specify it in comments.
| if (starting_angle_data_point.isValid()) { | ||
| starting_angle = starting_angle_data_point.getData(); | ||
| } else { | ||
| LOG_F(WARNING, "STARTING ANGLE DATA NOT FOUND"); |
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I'm realizing that I said to log here but you can probably just exit with an error. This is the TunePID executable which isn't mission critical.
src/TunePID.cpp
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| int32_t starting_angle; | ||
| if (starting_angle_data_point.isValid()) { | ||
| starting_angle = starting_angle_data_point.getData(); |
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also just do int32_t starting_angle = ... here instead of declaring it above. It's ok in this case since we will fail if we don't enter this block.
huttongrabiel
requested changes
Nov 8, 2024
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