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1 parent 9e30418 commit 6190cf2

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lines changed

‎uROS_STEP10_tfMsg/interrupt.ino

Lines changed: 1 addition & 1 deletion
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@@ -1,4 +1,4 @@
1-
// Copyright 2024 RT Corporation
1+
// Copyright 2023 RT Corporation
22
//
33
// Licensed under the Apache License, Version 2.0 (the "License");
44
// you may not use this file except in compliance with the License.

‎uROS_STEP10_tfMsg/uROS_STEP10_tfMsg.ino

Lines changed: 7 additions & 7 deletions
Original file line numberDiff line numberDiff line change
@@ -1,4 +1,4 @@
1-
// Copyright 2024 RT Corporation
1+
// Copyright 2023 RT Corporation
22
//
33
// Licensed under the Apache License, Version 2.0 (the "License");
44
// you may not use this file except in compliance with the License.
@@ -201,19 +201,19 @@ void setup()
201201

202202
delay(2000);
203203

204-
g_timer0 = timerBegin(1000000); //1us
204+
g_timer0 = timerBegin(1000000); //1MHz(1us)
205205
timerAttachInterrupt(g_timer0, &onTimer0);
206-
timerAlarm(g_timer0, 1000, true, 0); //1kHz
206+
timerAlarm(g_timer0, 1000, true, 0); //1000 * 1us =1000us(1kHz)
207207
timerStart(g_timer0);
208208

209-
g_timer2 = timerBegin(2000000); //0.5us
209+
g_timer2 = timerBegin(2000000); //2MHz(0.5us)
210210
timerAttachInterrupt(g_timer2, &isrR);
211-
timerAlarm(g_timer2, 13333, true, 0); //150Hz
211+
timerAlarm(g_timer2, 13333, true, 0); //13333 * 0.5us = 6666us(150Hz)
212212
timerStart(g_timer2);
213213

214-
g_timer3 = timerBegin(2000000); //0.5us
214+
g_timer3 = timerBegin(2000000); //2MHz(0.5us)
215215
timerAttachInterrupt(g_timer3, &isrL);
216-
timerAlarm(g_timer3, 13333, true, 0); //150Hz
216+
timerAlarm(g_timer3, 13333, true, 0); //13333 * 0.5us = 6666us(150Hz)
217217
timerStart(g_timer3);
218218

219219
g_allocator = rcl_get_default_allocator();

‎uROS_STEP11_SensorMsg/uROS_STEP11_SensorMsg.ino

Lines changed: 3 additions & 3 deletions
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@@ -1,4 +1,4 @@
1-
// Copyright 2024 RT Corporation
1+
// Copyright 2023 RT Corporation
22
//
33
// Licensed under the Apache License, Version 2.0 (the "License");
44
// you may not use this file except in compliance with the License.
@@ -163,9 +163,9 @@ void setup()
163163

164164
delay(2000);
165165

166-
g_timer1 = timerBegin(1000000); //1us
166+
g_timer1 = timerBegin(1000000); //1MHz(1us)
167167
timerAttachInterrupt(g_timer1, &onTimer1);
168-
timerAlarm(g_timer1, 250, true, 0); //4kHz
168+
timerAlarm(g_timer1, 250, true, 0); //250 * 1us = 250us(4kHz)
169169
timerStart(g_timer1);
170170

171171
g_allocator = rcl_get_default_allocator();

‎uROS_STEP12_micromouse/SPIFFS.ino

Lines changed: 1 addition & 1 deletion
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@@ -1,4 +1,4 @@
1-
// Copyright 2024 RT Corporation
1+
// Copyright 2023 RT Corporation
22
//
33
// Licensed under the Apache License, Version 2.0 (the "License");
44
// you may not use this file except in compliance with the License.

‎uROS_STEP12_micromouse/adjust.ino

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1-
// Copyright 2024 RT Corporation
1+
// Copyright 2023 RT Corporation
22
//
33
// Licensed under the Apache License, Version 2.0 (the "License");
44
// you may not use this file except in compliance with the License.

‎uROS_STEP12_micromouse/device.h

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@@ -36,5 +36,4 @@
3636
#define SW_CM 2
3737
#define SW_RM 4
3838

39-
4039
#endif // DEVICE_H_

‎uROS_STEP12_micromouse/device.ino

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// Copyright 2024 RT Corporation
1+
// Copyright 2023 RT Corporation
22
//
33
// Licensed under the Apache License, Version 2.0 (the "License");
44
// you may not use this file except in compliance with the License.

‎uROS_STEP12_micromouse/fast.ino

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1-
// Copyright 2024 RT Corporation
1+
// Copyright 2023 RT Corporation
22
//
33
// Licensed under the Apache License, Version 2.0 (the "License");
44
// you may not use this file except in compliance with the License.

‎uROS_STEP12_micromouse/interrupt.ino

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1-
// Copyright 2024 RT Corporation
1+
// Copyright 2023 RT Corporation
22
//
33
// Licensed under the Apache License, Version 2.0 (the "License");
44
// you may not use this file except in compliance with the License.

‎uROS_STEP12_micromouse/map_manager.ino

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1-
// Copyright 2024 RT Corporation
1+
// Copyright 2023 RT Corporation
22
//
33
// Licensed under the Apache License, Version 2.0 (the "License");
44
// you may not use this file except in compliance with the License.

‎uROS_STEP12_micromouse/microROS.ino

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1-
// Copyright 2024 RT Corporation
1+
// Copyright 2023 RT Corporation
22
//
33
// Licensed under the Apache License, Version 2.0 (the "License");
44
// you may not use this file except in compliance with the License.

‎uROS_STEP12_micromouse/misc.ino

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1-
// Copyright 2024 RT Corporation
1+
// Copyright 2023 RT Corporation
22
//
33
// Licensed under the Apache License, Version 2.0 (the "License");
44
// you may not use this file except in compliance with the License.

‎uROS_STEP12_micromouse/run.ino

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1-
// Copyright 2024 RT Corporation
1+
// Copyright 2023 RT Corporation
22
//
33
// Licensed under the Apache License, Version 2.0 (the "License");
44
// you may not use this file except in compliance with the License.

‎uROS_STEP12_micromouse/search.ino

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@@ -1,4 +1,4 @@
1-
// Copyright 2024 RT Corporation
1+
// Copyright 2023 RT Corporation
22
//
33
// Licensed under the Apache License, Version 2.0 (the "License");
44
// you may not use this file except in compliance with the License.

‎uROS_STEP12_micromouse/uROS_STEP12_micromouse.ino

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1-
// Copyright 2024 RT Corporation
1+
// Copyright 2023 RT Corporation
22
//
33
// Licensed under the Apache License, Version 2.0 (the "License");
44
// you may not use this file except in compliance with the License.

‎uROS_STEP1_LED/uROS_STEP1_LED.ino

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@@ -1,4 +1,4 @@
1-
// Copyright 2024 RT Corporation
1+
// Copyright 2023 RT Corporation
22
//
33
// Licensed under the Apache License, Version 2.0 (the "License");
44
// you may not use this file except in compliance with the License.

‎uROS_STEP2_SWITCH/uROS_STEP2_SWITCH.ino

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -1,4 +1,4 @@
1-
// Copyright 2024 RT Corporation
1+
// Copyright 2023 RT Corporation
22
//
33
// Licensed under the Apache License, Version 2.0 (the "License");
44
// you may not use this file except in compliance with the License.

‎uROS_STEP3_Buzzer/uROS_STEP3_Buzzer.ino

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -1,4 +1,4 @@
1-
// Copyright 2024 RT Corporation
1+
// Copyright 2023 RT Corporation
22
//
33
// Licensed under the Apache License, Version 2.0 (the "License");
44
// you may not use this file except in compliance with the License.

‎uROS_STEP4_Sensor/uROS_STEP4_Sensor.ino

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -1,4 +1,4 @@
1-
// Copyright 2024 RT Corporation
1+
// Copyright 2023 RT Corporation
22
//
33
// Licensed under the Apache License, Version 2.0 (the "License");
44
// you may not use this file except in compliance with the License.
@@ -94,9 +94,9 @@ void setup()
9494

9595
Serial.begin(115200);
9696

97-
g_timer1 = timerBegin(1000000); //1us
97+
g_timer1 = timerBegin(1000000); //1MHz(1us)
9898
timerAttachInterrupt(g_timer1, &onTimer1);
99-
timerAlarm(g_timer1, 250, true, 0); //4kHz
99+
timerAlarm(g_timer1, 250, true, 0); //250 * 1us =250us(4kHz)
100100
timerStart(g_timer1);
101101
}
102102

‎uROS_STEP5_Straight/interrupt.ino

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@@ -1,4 +1,4 @@
1-
// Copyright 2024 RT Corporation
1+
// Copyright 2023 RT Corporation
22
//
33
// Licensed under the Apache License, Version 2.0 (the "License");
44
// you may not use this file except in compliance with the License.

‎uROS_STEP5_Straight/run.ino

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@@ -1,4 +1,4 @@
1-
// Copyright 2024 RT Corporation
1+
// Copyright 2023 RT Corporation
22
//
33
// Licensed under the Apache License, Version 2.0 (the "License");
44
// you may not use this file except in compliance with the License.

‎uROS_STEP5_Straight/uROS_STEP5_Straight.ino

Lines changed: 7 additions & 7 deletions
Original file line numberDiff line numberDiff line change
@@ -1,4 +1,4 @@
1-
// Copyright 2024 RT Corporation
1+
// Copyright 2023 RT Corporation
22
//
33
// Licensed under the Apache License, Version 2.0 (the "License");
44
// you may not use this file except in compliance with the License.
@@ -115,19 +115,19 @@ void setup()
115115
digitalWrite(PWM_R, LOW);
116116
digitalWrite(PWM_L, LOW);
117117

118-
g_timer0 = timerBegin(1000000); //1us
118+
g_timer0 = timerBegin(1000000); //1MHz(1us)
119119
timerAttachInterrupt(g_timer0, &onTimer0);
120-
timerAlarm(g_timer0, 1000, true, 0); //1kHz
120+
timerAlarm(g_timer0, 1000, true, 0); //1000 * 1us =1000us(1kHz)
121121
timerStart(g_timer0);
122122

123-
g_timer2 = timerBegin(2000000); //0.5us
123+
g_timer2 = timerBegin(2000000); //2MHz(0.5us)
124124
timerAttachInterrupt(g_timer2, isrR);
125-
timerAlarm(g_timer2, 13333, true, 0); //150Hz
125+
timerAlarm(g_timer2, 13333, true, 0); //13333 * 0.5us = 6666us(150Hz)
126126
timerStart(g_timer2);
127127

128-
g_timer3 = timerBegin(2000000); //0.5us
128+
g_timer3 = timerBegin(2000000); //2MHz(0.5us)
129129
timerAttachInterrupt(g_timer3, &isrL);
130-
timerAlarm(g_timer3, 13333, true, 0); //150Hz
130+
timerAlarm(g_timer3, 13333, true, 0); //13333 * 0.5us = 6666us(150Hz)
131131
timerStart(g_timer3);
132132
}
133133

‎uROS_STEP6_rotate/interrupt.ino

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Original file line numberDiff line numberDiff line change
@@ -1,4 +1,4 @@
1-
// Copyright 2024 RT Corporation
1+
// Copyright 2023 RT Corporation
22
//
33
// Licensed under the Apache License, Version 2.0 (the "License");
44
// you may not use this file except in compliance with the License.

‎uROS_STEP6_rotate/run.ino

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Original file line numberDiff line numberDiff line change
@@ -1,4 +1,4 @@
1-
// Copyright 2024 RT Corporation
1+
// Copyright 2023 RT Corporation
22
//
33
// Licensed under the Apache License, Version 2.0 (the "License");
44
// you may not use this file except in compliance with the License.

‎uROS_STEP6_rotate/uROS_STEP6_rotate.ino

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Original file line numberDiff line numberDiff line change
@@ -1,4 +1,4 @@
1-
// Copyright 2024 RT Corporation
1+
// Copyright 2023 RT Corporation
22
//
33
// Licensed under the Apache License, Version 2.0 (the "License");
44
// you may not use this file except in compliance with the License.
@@ -124,19 +124,19 @@ void setup()
124124
digitalWrite(PWM_R, LOW);
125125
digitalWrite(PWM_L, LOW);
126126

127-
g_timer0 = timerBegin(1000000); //1us
127+
g_timer0 = timerBegin(1000000); //1MHz(1us)
128128
timerAttachInterrupt(g_timer0, &onTimer0);
129-
timerAlarm(g_timer0, 1000, true, 0); //1kHz
129+
timerAlarm(g_timer0, 1000, true, 0); //1000 * 1us = 1000us(1kHz)
130130
timerStart(g_timer0);
131131

132-
g_timer2 = timerBegin(2000000); //0.5us
132+
g_timer2 = timerBegin(2000000); //2MHz(0.5us)
133133
timerAttachInterrupt(g_timer2, &isrR);
134-
timerAlarm(g_timer2, 13333, true, 0); //150Hz
134+
timerAlarm(g_timer2, 13333, true, 0); //13333 * 0.5us = 6666us(150Hz)
135135
timerStart(g_timer2);
136136

137-
g_timer3 = timerBegin(2000000); //0.5us
137+
g_timer3 = timerBegin(2000000); //2MHz(0.5us)
138138
timerAttachInterrupt(g_timer3, &isrL);
139-
timerAlarm(g_timer3, 13333, true, 0); //150Hz
139+
timerAlarm(g_timer3, 13333, true, 0); //13333 * 0.5us = 6666us(150Hz)
140140
timerStart(g_timer3);
141141
}
142142

‎uROS_STEP7_P_control/interrupt.ino

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1-
// Copyright 2024 RT Corporation
1+
// Copyright 2023 RT Corporation
22
//
33
// Licensed under the Apache License, Version 2.0 (the "License");
44
// you may not use this file except in compliance with the License.

‎uROS_STEP7_P_control/run.ino

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1-
// Copyright 2024 RT Corporation
1+
// Copyright 2023 RT Corporation
22
//
33
// Licensed under the Apache License, Version 2.0 (the "License");
44
// you may not use this file except in compliance with the License.

‎uROS_STEP7_P_control/uROS_STEP7_P_control.ino

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1-
// Copyright 2024 RT Corporation
1+
// Copyright 2023 RT Corporation
22
//
33
// Licensed under the Apache License, Version 2.0 (the "License");
44
// you may not use this file except in compliance with the License.
@@ -190,24 +190,24 @@ void setup()
190190

191191
Serial.begin(115200);
192192

193-
g_timer0 = timerBegin(1000000); //1us
193+
g_timer0 = timerBegin(1000000); //1MHz(1us)
194194
timerAttachInterrupt(g_timer0, &onTimer0);
195-
timerAlarm(g_timer0, 1000, true, 0); //1kHz
195+
timerAlarm(g_timer0, 1000, true, 0); //1000 * 1us =1000us(1kHz)
196196
timerStart(g_timer0);
197197

198198
g_timer1 = timerBegin(1000000);
199199
timerAttachInterrupt(g_timer1, &onTimer1);
200200
timerAlarm(g_timer1, 250, true, 0);
201201
timerStart(g_timer1);
202202

203-
g_timer2 = timerBegin(2000000); //0.5us
203+
g_timer2 = timerBegin(2000000); //2MHz(0.5us)
204204
timerAttachInterrupt(g_timer2, &isrR);
205-
timerAlarm(g_timer2, 13333, true, 0); //150Hz
205+
timerAlarm(g_timer2, 13333, true, 0); //13333 * 0.5us = 6666us(150Hz)
206206
timerStart(g_timer2);
207207

208-
g_timer3 = timerBegin(2000000); //0.5us
208+
g_timer3 = timerBegin(2000000); //2MHz(0.5us)
209209
timerAttachInterrupt(g_timer3, &isrL);
210-
timerAlarm(g_timer3, 13333, true, 0); //150Hz
210+
timerAlarm(g_timer3, 13333, true, 0); //13333 * 0.5us = 6666us(150Hz)
211211
timerStart(g_timer3);
212212

213213
g_sen_r.ref = REF_SEN_R;

‎uROS_STEP8_micromouse/SPIFFS.ino

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1-
// Copyright 2024 RT Corporation
1+
// Copyright 2023 RT Corporation
22
//
33
// Licensed under the Apache License, Version 2.0 (the "License");
44
// you may not use this file except in compliance with the License.

‎uROS_STEP8_micromouse/adjust.ino

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1-
// Copyright 2024 RT Corporation
1+
// Copyright 2023 RT Corporation
22
//
33
// Licensed under the Apache License, Version 2.0 (the "License");
44
// you may not use this file except in compliance with the License.

‎uROS_STEP8_micromouse/device.ino

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1-
// Copyright 2024 RT Corporation
1+
// Copyright 2023 RT Corporation
22
//
33
// Licensed under the Apache License, Version 2.0 (the "License");
44
// you may not use this file except in compliance with the License.

‎uROS_STEP8_micromouse/fast.ino

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1-
// Copyright 2024 RT Corporation
1+
// Copyright 2023 RT Corporation
22
//
33
// Licensed under the Apache License, Version 2.0 (the "License");
44
// you may not use this file except in compliance with the License.

‎uROS_STEP8_micromouse/interrupt.ino

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1-
// Copyright 2024 RT Corporation
1+
// Copyright 2023 RT Corporation
22
//
33
// Licensed under the Apache License, Version 2.0 (the "License");
44
// you may not use this file except in compliance with the License.

‎uROS_STEP8_micromouse/map_manager.ino

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1-
// Copyright 2024 RT Corporation
1+
// Copyright 2023 RT Corporation
22
//
33
// Licensed under the Apache License, Version 2.0 (the "License");
44
// you may not use this file except in compliance with the License.

‎uROS_STEP8_micromouse/misc.ino

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1-
// Copyright 2024 RT Corporation
1+
// Copyright 2023 RT Corporation
22
//
33
// Licensed under the Apache License, Version 2.0 (the "License");
44
// you may not use this file except in compliance with the License.

‎uROS_STEP8_micromouse/run.ino

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1-
// Copyright 2024 RT Corporation
1+
// Copyright 2023 RT Corporation
22
//
33
// Licensed under the Apache License, Version 2.0 (the "License");
44
// you may not use this file except in compliance with the License.

‎uROS_STEP8_micromouse/search.ino

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1-
// Copyright 2024 RT Corporation
1+
// Copyright 2023 RT Corporation
22
//
33
// Licensed under the Apache License, Version 2.0 (the "License");
44
// you may not use this file except in compliance with the License.

‎uROS_STEP8_micromouse/uROS_STEP8_micromouse.ino

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1-
// Copyright 2024 RT Corporation
1+
// Copyright 2023 RT Corporation
22
//
33
// Licensed under the Apache License, Version 2.0 (the "License");
44
// you may not use this file except in compliance with the License.

‎uROS_STEP9_twistMsg/interrupt.ino

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1-
// Copyright 2024 RT Corporation
1+
// Copyright 2023 RT Corporation
22
//
33
// Licensed under the Apache License, Version 2.0 (the "License");
44
// you may not use this file except in compliance with the License.

‎uROS_STEP9_twistMsg/uROS_STEP9_twistMsg.ino

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@@ -1,4 +1,4 @@
1-
// Copyright 2024 RT Corporation
1+
// Copyright 2023 RT Corporation
22
//
33
// Licensed under the Apache License, Version 2.0 (the "License");
44
// you may not use this file except in compliance with the License.
@@ -174,19 +174,19 @@ void setup()
174174

175175
delay(2000);
176176

177-
g_timer0 = timerBegin(1000000); //1us
177+
g_timer0 = timerBegin(1000000); //1MHz(1us)
178178
timerAttachInterrupt(g_timer0, &onTimer0);
179-
timerAlarm(g_timer0, 1000, true, 0); //1kHz
179+
timerAlarm(g_timer0, 1000, true, 0); //1000 * 1us = 1000us(1kHz)
180180
timerStart(g_timer0);
181181

182-
g_timer2 = timerBegin(2000000); //0.5us
182+
g_timer2 = timerBegin(2000000); //2MHz(0.5us)
183183
timerAttachInterrupt(g_timer2, &isrR);
184-
timerAlarm(g_timer2, 13333, true, 0); //150Hz
184+
timerAlarm(g_timer2, 13333, true, 0); //13333 * 0.5us = 6666us(150Hz)
185185
timerStart(g_timer2);
186186

187-
g_timer3 = timerBegin(2000000); //0.5us
187+
g_timer3 = timerBegin(2000000); //2MHz(0.5us)
188188
timerAttachInterrupt(g_timer3, &isrL);
189-
timerAlarm(g_timer3, 13333, true, 0); //150Hz
189+
timerAlarm(g_timer3, 13333, true, 0); //13333 * 0.5us = 6666us(150Hz)
190190
timerStart(g_timer3);
191191

192192
g_allocator = rcl_get_default_allocator();

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