2 Commits

Author SHA1 Message Date
  Romain Vitrat 3fabeb9559 changements effectués pour que le merge soit clean 4 years ago
  Romain Vitrat c5892bacc9 ok 4 years ago
1 changed files with 4 additions and 3 deletions
  1. 4
    3
      software/raspberry/superviseur-robot/tasks.cpp

+ 4
- 3
software/raspberry/superviseur-robot/tasks.cpp View File

@@ -658,7 +658,6 @@ void Tasks::StartRobotTaskWithWatchdog(void *arg) {
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     int killBatteryOk=0;
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     int cpt=1;
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     Message * msgSend;
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-    int err;
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     while(1){
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@@ -697,11 +696,13 @@ void Tasks::StartRobotTaskWithWatchdog(void *arg) {
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             while (killBatteryOk==0) {
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                 cpt++;
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                 if(cpt==2){
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+                    rt_mutex_acquire(&mutex_robot, TM_INFINITE);
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+                        robot.Write(robot.ReloadWD());
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+                    rt_mutex_release(&mutex_robot);
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                     cpt=0;
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                 }
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                 rt_task_wait_period(NULL);
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                 rt_sem_v(&sem_askBattery);
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-
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                 rt_mutex_acquire(&mutex_killBattery, TM_INFINITE);
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                 killBatteryOk=killBattery;
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                 rt_mutex_release(&mutex_killBattery);
@@ -726,7 +727,7 @@ void Tasks::MoveTask(void *arg) {
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     /**************************************************************************************/
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     /* The task starts here                                                               */
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     /**************************************************************************************/
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-    rt_task_set_periodic(NULL, TM_NOW, 1000000000);
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+    rt_task_set_periodic(NULL, TM_NOW, 100000000);
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     while (1) {
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         rt_task_wait_period(NULL);

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