fix megagenial (#177)

SwarmUS · Nov 26, 2021 · 724df2d · 724df2d
1 parent 883a7c9
commit 724df2d
Show file tree

Hide file tree

Showing 4 changed files with 6 additions and 13 deletions.
diff --git a/src/bittybuzz/buzz_scripts/behaviors/blinky.bzz b/src/bittybuzz/buzz_scripts/behaviors/blinky.bzz
@@ -1,27 +1,20 @@
 include "utils/executor.bzz"
 
 ctx = {
-    .led = 0,
-    .hex = 0
+    .led = 0
 }
 
 function tick(context){
-    log("Led set to : ", context.led, " and hex set to :", context.hex);
+    log("Led set to : ", context.led);
     ui.set_led(context.led);
-    ui.set_hex(context.hex);
+    ui.set_hex(neighbors.count());
 
     # led = !led
     if(context.led){
         context.led = nil;
     } else{
         context.led = 1;
     }
-
-    if(context.hex >= 15){
-        context.hex = 0;
-    } else {
-        context.hex = context.hex + 1;
-    }
 }
 
 function create_exec(delay_ms){

diff --git a/src/bittybuzz/buzz_scripts/behaviors/follow_leader.bzz b/src/bittybuzz/buzz_scripts/behaviors/follow_leader.bzz
@@ -11,7 +11,7 @@ function tick_follow_leader(stig){
         log("Trying to get leader: ", leader)
         leader_obj = neighbors.get(leader) # Global to be accessible in filter
         if (istable(leader_obj)){
-            if(leader_obj.distance > 1.25){
+            if(leader_obj.distance > 0.75){
                 # Getting neighbors in LOS
                 var obstructing_neighbors = neighbors.filter(function(rid, data){
                         if(rid != leader and data.distance < 1){

diff --git a/src/bsp/src/stm32/src/interloc/include/interloc/InterlocTimeManager.h b/src/bsp/src/stm32/src/interloc/include/interloc/InterlocTimeManager.h
@@ -10,7 +10,7 @@
 #define RESPONSE_PROCESSING_GUARD 360U
 #define RESPONSE_PROCESSING_GUARD_GUARD 50U
 #define RESPONSE_TO_FINAL_GUARD 600U
-#define FINAL_PROCESSING_GUARD 2000U
+#define FINAL_PROCESSING_GUARD 5000U
 #define RX_BEFORE_TX_GUARD_US 10U
 #define TIMEOUT_GUARD_US 100U
 #define DEAD_TIME 200U

diff --git a/src/bsp/src/stm32/src/interloc/src/InterlocTimeManager.cpp b/src/bsp/src/stm32/src/interloc/src/InterlocTimeManager.cpp
@@ -234,7 +234,7 @@ uint64_t InterlocTimeManager::getPollTxStartTs(uint64_t startOfFrameTs) const {
 
 uint32_t InterlocTimeManager::getSyncTimeoutUs() const {
     uint32_t slotToSlotOffsetUs = getFrameLengthUs();
-    return slotToSlotOffsetUs * NUM_TWR_FRAMES + (m_bsp.generateRandomNumber() % 25) * 150;
+    return slotToSlotOffsetUs * NUM_TWR_FRAMES + (m_bsp.generateRandomNumber() % 25) * 500;
 }
 
 uint64_t InterlocTimeManager::getAngleTxStartTs(uint64_t startOfFrameTs, uint32_t angleId) const {