diff options
Diffstat (limited to 'robot/hypervisor.c')
| -rw-r--r-- | robot/hypervisor.c | 11 |
1 files changed, 7 insertions, 4 deletions
diff --git a/robot/hypervisor.c b/robot/hypervisor.c index db0700d..381d9af 100644 --- a/robot/hypervisor.c +++ b/robot/hypervisor.c @@ -1,5 +1,8 @@ -#include "hypervisor.h" +#include <pololu/orangutan.h> + +#include "consts.h" #include "errcatch.h" +#include "hypervisor.h" #include "io.h" #include "modes.h" #include "sercomm.h" @@ -9,8 +12,8 @@ void w2_hypervisor_main() { w2_errcatch_main(); w2_io_main(); - // start timer + time_reset(); w2_modes_main(); - // stop timer - // throw error if cycle expired + unsigned long elapsed_ms = get_ms(); + if (elapsed_ms > W2_MAX_MODULE_CYCLE_MS) w2_errcatch_throw(W2_ERR_CYCLE_EXPIRED); } |