How can I dynamically change the period of a timer ?

[freemank1224]

I tried to modify a inteval of a timer in loop() to dynamically change the timer's inteval, but it doesn't work.
nacelle_timer.every(nacelleFrequencySetpoint ++, move_motor_count);

What should I do ?

[philj404]

By itself timer.every(...) is more of a "set it and forget it" method than something where you can change the task's period later.

Instead you could cancel the previously running task and restart with a new period:

...
auto nacelleUpdater = nacelle_timer.every(nacelleFrequencySetpoint ++, move_motor_count);
...
nacelle_timer.cancel(nacelleUpdater);
nacelleUpdater = nacelle_timer.every(nacelleFrequencySetpoint ++, move_motor_count);

While this can work, move_motor_count may "stutter" a bit when the updater resets.

Another way to do this is to use nacelle_timer.in(...) and just schedule the next time to run with another nacelle_timer.in(...) at the end of move_motor_count):

...
unsigned long nacellFrequencySetpoint;
...
nacelle_timer.in(nacelleFrequencySetpoint ++, move_motor_count);
...
// adjust nacelleFrequencySetpoint as needed...
...

bool move_motor_count(void * info) {
    ...
   // some other task adjusts the period...
   nacelle_timer.in(nacelleFrequencySetpoint, move_motor_count);
   return false;
}

[g1ra]

I did same by :

#include <arduino-timer.h>
Timer<2, micros> timerStepper; // must have 2 slots
Timer<>::Task taskStepper;

bool updateStepper(void *) { //https://github.com/contrem/arduino-timer
// call updateStepper after variable_delay
    taskStepper = timerStepper.in(variable_delay, updateStepper);
    return true;
}

void setup() {
  // start updateStepper
  taskStepper = timerStepper.in(variable_delay, updateStepper);
 }

void loop() {
  timerStepper.tick(); // need for arduino-timer , must Call timer.tick() in the loop function
  delay(1); // Pause before next pass through loop

}