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This commit is contained in:
Stepan Usatiuk
2019-07-22 20:06:46 +03:00
parent 472011554d
commit 44845fe5af
1 changed files with 5 additions and 0 deletions
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5
Firmware/MotorControl/src/main.cpp
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@@ -135,6 +135,11 @@ void setup() {
volatile unsigned int tick = 0; volatile unsigned int tick = 0;
volatile bool armed = false; volatile bool armed = false;
/*
We use our own timer for more precise timings
And it ticks only when armed, to ensure
that updateExecution() doesn't skip a single tick
*/
ISR(TIMER2_COMPA_vect) { ISR(TIMER2_COMPA_vect) {
if (armed) { if (armed) {
tick++; tick++;