Method rescheduleTick

tracker/src/loop.ts:179–186

()

  }

  private rescheduleTick(): void {
    if (this.timer) clearInterval(this.timer);
    const hz = this.cfg().predict.commandHz || 15;
    this.timer = setInterval(() => this.tick(), 1000 / hz);
    if (this.visionTimer) clearInterval(this.visionTimer);
    const ms = this.cfg().vision.intervalMs || 250;
    this.visionTimer = setInterval(() => void this.visionTick(), ms);
  }

  private cfg(): TrackerConfig {
    return this.upstream.getConfig().tracker;