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…emergency brake functionality (stable version)
…ith utils.h in I2C files, adjust queue size, and enhance battery thread functionality
…ate unnecessary sleep in driving command thread
…nd control functions
…dundant instructions
AfonsoMota-132
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Feb 12, 2026
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AfonsoMota-132
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AfonsoMota-132
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the code changes were clear and understandable, although in some parts a few more comments would be usefull, but apart from that good job :3
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Pull Request
Summary
The main goal of this PR is to incorporate the Raspberry Pi heartbeat system into the new STM architecture.
Refactored thread priorities in a strategic way to improve emergency brake latency.
The motor and servo threads were integrated into a single thread to reduce CAN message congestion. Careful revision of sleep intervals was performed to avoid disrupting the proper functioning of other threads.
The battery thread bug was fixed and now outputs data every 1500 ms (remaining voltage and percentage).
The emergency brake also received a small refactor.
Related issues
#116
Type of change