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increase loop frequency to 83hz

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This commit is contained in:
Andy Killorin 2024-10-25 16:37:02 -04:00
parent d3ed3f4093
commit de02805873
Signed by: ank
GPG key ID: 23F9463ECB67FE8C
1 changed files with 1 additions and 1 deletions
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lib/Chassis/src/constants.h
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@ -14,5 +14,5 @@ const float RIGHT_TICKS_PER_CM = 1440.0 / (3.1416 * 4.0);
* You can change the control loop period, but you should use multiples of 4 ms to * You can change the control loop period, but you should use multiples of 4 ms to
* avoid rounding errors. * avoid rounding errors.
*/ */
const uint16_t CONTROL_LOOP_PERIOD_MS = 20; const uint16_t CONTROL_LOOP_PERIOD_MS = 12;
const float CONTROL_LOOP_PERIOD_S = CONTROL_LOOP_PERIOD_MS / 1000.; const float CONTROL_LOOP_PERIOD_S = CONTROL_LOOP_PERIOD_MS / 1000.;