From c3a84263b0aadda7d1e9898a0408a7b9caba9b8d Mon Sep 17 00:00:00 2001 From: usedhondacivic Date: Mon, 25 May 2026 18:18:16 -0700 Subject: [PATCH] Wifi power on init delay, try send instead of send for motor commands --- mote-firmware/src/main.rs | 2 ++ mote-firmware/src/tasks/wifi/udp_server.rs | 2 +- 2 files changed, 3 insertions(+), 1 deletion(-) diff --git a/mote-firmware/src/main.rs b/mote-firmware/src/main.rs index 28127bb..0f80185 100644 --- a/mote-firmware/src/main.rs +++ b/mote-firmware/src/main.rs @@ -17,6 +17,7 @@ use embassy_executor::{Executor, Spawner}; use embassy_rp::clocks::{ClockConfig, CoreVoltage, clk_sys_freq}; use embassy_rp::config::Config; use embassy_rp::multicore::{Stack, spawn_core1}; +use embassy_time::Timer; use embedded_alloc::LlffHeap as Heap; use static_cell::StaticCell; use {defmt_rtt as _, panic_probe as _}; @@ -99,6 +100,7 @@ async fn core0_task(spawner: Spawner, r: Cyw43Resources, flash_r: FlashResources spawner.spawn(flash_manager::flash_manager_task(flash_r).unwrap()); info!("Flash INIT complete"); + Timer::after_millis(1000).await; wifi::init(spawner, r).await; info!("Wifi INIT complete"); } diff --git a/mote-firmware/src/tasks/wifi/udp_server.rs b/mote-firmware/src/tasks/wifi/udp_server.rs index 4f14a41..1432a9e 100644 --- a/mote-firmware/src/tasks/wifi/udp_server.rs +++ b/mote-firmware/src/tasks/wifi/udp_server.rs @@ -22,7 +22,7 @@ async fn handle_command(rx_message: host_to_mote::Message, link: &mut HostLink) info!("Received ping response from host."); } host_to_mote::Message::DriveBaseCommand(cmd) => { - MOTOR_COMMAND_CHANNEL.send(cmd).await; + let _ = MOTOR_COMMAND_CHANNEL.try_send(cmd); } _ => { error!("Received unhandled message type");