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AP_Motors_Time_test.pde: use hal.scheduler->micros instead of gettimeofday

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bugobliterator 2014-06-20 10:56:09 +05:30 committed by Andrew Tridgell
parent 65fef59dfa
commit e6f27c9fac
1 changed files with 6 additions and 9 deletions
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15
libraries/AP_Motors/examples/AP_Motors_Time_test/AP_Motors_Time_test.pde
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@ -96,16 +96,13 @@ void motor_order_test()
motors.armed(true);
for (int8_t i=1; i <= 4; i++) {
hal.console->printf_P(PSTR("Motor %d\n"),(int)i);
struct timeval tv;
struct timeval start_tv;
gettimeofday(&start_tv, NULL); //Time Test
hal.console->printf_P(PSTR("Motor %d\n"),(int)i);
int elapsed =0,stop;
int start = hal.scheduler->micros(); //Time Test
motors.output_test(i, 1150);
double elapsed = 0.0;
gettimeofday(&tv, NULL);
elapsed = (tv.tv_sec - start_tv.tv_sec) + (tv.tv_usec - start_tv.tv_usec) / 1000000.0;
hal.console->printf_P(PSTR(" Elapsed Time: %fs\n"),elapsed);
stop = hal.scheduler->micros();
elapsed = stop - start;
hal.console->printf_P(PSTR(" Elapsed Time: %dus\n"),elapsed);
hal.scheduler->delay(300);
motors.output_test(i, 1000);
hal.scheduler->delay(2000);