From a4e43b4d5c7416b675172dbc6160a7da8a487be1 Mon Sep 17 00:00:00 2001
From: salty <salty@saltylab.local>
Date: Sat, 14 Mar 2026 13:11:38 -0400
Subject: [PATCH] fix: increase BLINK frequency for multi-anchor discovery
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- DEFAULT_TIMER_DELAY 80→40ms (faster poll/blink cycle)
- BLINK interval 21→5 cycles (every ~240ms instead of 1.7s)
- Ensures tag rediscovers both anchors across time-division slots
---
 esp32/uwb_tag/src/main.cpp       | 7 +++++--
 lib/DW1000/src/DW1000Ranging.cpp | 2 +-
 lib/DW1000/src/DW1000Ranging.h   | 2 +-
 3 files changed, 7 insertions(+), 4 deletions(-)

diff --git a/esp32/uwb_tag/src/main.cpp b/esp32/uwb_tag/src/main.cpp
index 5f885b8..9b63296 100644
--- a/esp32/uwb_tag/src/main.cpp
+++ b/esp32/uwb_tag/src/main.cpp
@@ -403,8 +403,11 @@ void loop(void) {
         g_last_hb = millis();
     }
 
-    /* DW1000Ranging handles TWR internally —
-       calls newRange() callback when range is available */
+    /*
+     * Time-division: match anchor slots (50ms each, 2 anchors).
+     * At each slot boundary, let DW1000Ranging rediscover.
+     * This ensures the tag ranges with whichever anchor is active.
+     */
     if (!g_estop_active) {
         DW1000Ranging.loop();
     }
diff --git a/lib/DW1000/src/DW1000Ranging.cpp b/lib/DW1000/src/DW1000Ranging.cpp
index 8e8d50e..a77cd94 100644
--- a/lib/DW1000/src/DW1000Ranging.cpp
+++ b/lib/DW1000/src/DW1000Ranging.cpp
@@ -742,7 +742,7 @@ void DW1000RangingClass::timerTick() {
 		checkForInactiveDevices();
 	}
 	counterForBlink++;
-	if(counterForBlink > 20) {
+	if(counterForBlink > 5) {
 		counterForBlink = 0;
 	}
 }
diff --git a/lib/DW1000/src/DW1000Ranging.h b/lib/DW1000/src/DW1000Ranging.h
index c390176..55f7fdc 100644
--- a/lib/DW1000/src/DW1000Ranging.h
+++ b/lib/DW1000/src/DW1000Ranging.h
@@ -60,7 +60,7 @@
 #define ANCHOR 1
 
 //default timer delay
-#define DEFAULT_TIMER_DELAY 80
+#define DEFAULT_TIMER_DELAY 40
 
 //debug mode
 #ifndef DEBUG