software/raspberry/superviseur-robot/tasks.cpp

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