Firmware du Robot Holonome pour ESP32-S3-Tiny. Le firmware est compilé avec Platform.io.
Tasks can be assigned priorities of 0 to 24 (configMAX_PRIORITIES - 1). Zero is the lowest priority.
| Task Name | Core | Description | Priority |
|---|---|---|---|
| Main Loop (deleted) | 1 | (Task deleted) | 1 |
| Lidar TaskLidar | 1 | Read Serial Lidar and save incoming obstacle | 10 |
| Main timerMotionCallback | 1 | Update Position, Trajectory, Motion, Motors (non-block) | MAX |
| Main TaskUpdate | 1 | Update HMI, ring, servo position | 15 |
| Main TaskHandleCommand | 1 | Handle command | 5 |
| Main TaskMatch | 1 | State machine of the Match (strategy code) | 10 |
| Task Name | Core | Description | Priority |
|---|---|---|---|
| ESP32_Helper Update | 0 | Read Serial Debug and save incoming command into queue | 5 |
| Wifi_Helper Update | 0 | Wifi/server/UDP reconnect, read client, handle OTA | 10 |
| Main TaskTeleplot | 0 | Print over Serial / wifi server / wifi UDP | 10 |