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stepper-motor-synth
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randomize the order of tick processing

This commit is contained in:
Peter Cai 2021-06-10 13:00:27 +08:00
parent c667006ca0
commit 29ad62627b
1 changed files with 10 additions and 3 deletions
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13
main.cpp
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@ -8,6 +8,15 @@ MotorControl motors[4] = {
MotorControl(13, 12)
};
void handle_tick(unsigned long cur_micros) {
// Randomize the order we process motor ticks every time
// This helps reduce the minor frequency discrepancies between each motor
unsigned long start_val = (cur_micros / 10) % 4;
for (unsigned long i = start_val; i < start_val + 4; i++) {
motors[i % 4].Tick(cur_micros);
}
}
int main() {
init();
// Enable the motor drivers
@ -25,9 +34,7 @@ int main() {
while (true) {
unsigned long cur_micros = micros();
for (int i = 0; i < 4; i++) {
motors[i].Tick(cur_micros);
}
handle_tick(cur_micros);
int new_motor = (cur_micros / 1000 / 1000) % 4;