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Merge branch 't_motordriver-in-stack-pointer' - fix encoder lag

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using this version of fix bad performance of motordriver call
This commit is contained in:
jonny_jr9 2024-02-19 11:56:22 +01:00
commit 4951abbcbf
2 changed files with 12 additions and 7 deletions
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17
board_single/main/main.cpp
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@ -31,6 +31,7 @@ extern "C"
#include "display.hpp" #include "display.hpp"
#include "encoder.hpp" #include "encoder.hpp"
#include <new>
//only extends this file (no library): //only extends this file (no library):
//outsourced all configuration related structures //outsourced all configuration related structures
@ -69,11 +70,11 @@ cControlledRest *backRest;
//-> makes it possible to easily use different motor drivers //-> makes it possible to easily use different motor drivers
motorSetCommandFunc_t setLeftFunc = [&sabertoothDriver](motorCommand_t cmd) motorSetCommandFunc_t setLeftFunc = [&sabertoothDriver](motorCommand_t cmd)
{ {
sabertoothDriver->setLeft(cmd); sabertoothDriver->setLeft(cmd); //<= note: still using pointer to method in here (but stored in STACK)
}; };
motorSetCommandFunc_t setRightFunc = [&sabertoothDriver](motorCommand_t cmd) motorSetCommandFunc_t setRightFunc = [&sabertoothDriver](motorCommand_t cmd)
{ {
sabertoothDriver->setRight(cmd); sabertoothDriver->setRight(cmd); //<= note: still using pointer to method in here (but stored in STACK)
}; };
//--- lambda function http-joystick --- //--- lambda function http-joystick ---
@ -163,9 +164,9 @@ void createObjects()
// create sabertooth motor driver instance // create sabertooth motor driver instance
// sabertooth2x60a sabertoothDriver(sabertoothConfig); // sabertooth2x60a sabertoothDriver(sabertoothConfig);
// with configuration above // with configuration above
sabertoothDriver = new sabertooth2x60a(sabertoothConfig); //sabertoothDriver = new sabertooth2x60a(sabertoothConfig);
// create controlled motor instances (motorctl.hpp) // create controlled motor instances (motorctl.hpp)
// with configurations above // with configurations above
motorLeft = new controlledMotor(setLeftFunc, configMotorControlLeft); motorLeft = new controlledMotor(setLeftFunc, configMotorControlLeft);
motorRight = new controlledMotor(setRightFunc, configMotorControlRight); motorRight = new controlledMotor(setRightFunc, configMotorControlRight);
@ -197,6 +198,7 @@ void createObjects()
legRest = new cControlledRest(GPIO_NUM_4, GPIO_NUM_16, "legRest"); legRest = new cControlledRest(GPIO_NUM_4, GPIO_NUM_16, "legRest");
backRest = new cControlledRest(GPIO_NUM_2, GPIO_NUM_15, "backRest"); backRest = new cControlledRest(GPIO_NUM_2, GPIO_NUM_15, "backRest");
} }
//sabertooth2x60a sabertoothDriver(sabertoothConfig);
@ -236,8 +238,11 @@ extern "C" void app_main(void) {
//--- create all objects --- //--- create all objects ---
ESP_LOGW(TAG, "===== CREATING SHARED OBJECTS ====="); ESP_LOGW(TAG, "===== CREATING SHARED OBJECTS =====");
//create all class instances used below //initialize sabertooth object in STACK (due to performance issues in heap)
//see 'createObjects.hpp' sabertoothDriver = static_cast<sabertooth2x60a*>(alloca(sizeof(sabertooth2x60a)));
new (sabertoothDriver) sabertooth2x60a(sabertoothConfig);
//create all class instances used below in HEAP
createObjects(); createObjects();

2
common/motorctl.cpp
View File

@ -19,7 +19,7 @@ void task_motorctl( void * task_motorctl_parameters ){
while(1){ while(1){
objects->motorRight->handle(); objects->motorRight->handle();
objects->motorLeft->handle(); objects->motorLeft->handle();
vTaskDelay(20 / portTICK_PERIOD_MS); vTaskDelay(10 / portTICK_PERIOD_MS);
} }
} }