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Wifi power on init delay, try send instead of send for motor commands #66

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Merged
usedhondacivic merged 1 commit into from
May 26, 2026
Merged

Wifi power on init delay, try send instead of send for motor commands #66

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2 changes: 2 additions & 0 deletions mote-firmware/src/main.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -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 _};
Expand Down Expand Up @@ -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");
}
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2 changes: 1 addition & 1 deletion mote-firmware/src/tasks/wifi/udp_server.rs
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Expand Up @@ -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");
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