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added watchdog commands for motor microcontroller #12

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added watchdog commands for motor microcontroller #12

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ac36c7d
added watchdog commands for motor microcontroller
eereent May 7, 2025
0ee9f3c
Added watchdog include
leslier7 May 18, 2025
348bf99
Merge branch 'main' into watchdogMotor
leslier7 May 18, 2025
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8 changes: 5 additions & 3 deletions src/main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -9,8 +9,10 @@ It will also read the speed of the motor and send it to the onboard computer.
#include <Adafruit_MCP4725.h>
#include "RefSpeed.h"
#include "BatteryFunctions.h"
#include "hardware/watchdog.h"
#include "globals.h"


#if defined(ROS) || defined(ROS_DEBUG)
#include <micro_ros_platformio.h>
#include "microRosFunctions.h"
Expand Down Expand Up @@ -108,7 +110,7 @@ void setup() {
pinMode(speedFreqLPin, INPUT_PULLDOWN);
attachInterrupt(digitalPinToInterrupt(speedFreqRPin), pulse_handler_1, RISING);
attachInterrupt(digitalPinToInterrupt(speedFreqLPin), pulse_handler_2, RISING);

watchdog_enable(3000, 1); // updating the watchdog// set the watchdog to run at 8s interval



Expand Down Expand Up @@ -143,7 +145,7 @@ void setup() {
}

void loop() {

watchdog_update(); //updating the watchdog
#if defined(ROS) || defined(ROS_DEBUG)
microRosTick();
refSpeedSensors = getRefSpeed();
Expand Down Expand Up @@ -238,4 +240,4 @@ void loop() {
#ifdef ROS_DEBUG
transmitDac(refSpeedL, refSpeedR);
#endif
}
}