+ tick = rt_timer_read();
+ add_tick(tocks, rt_timer_read()-tock);
+
+ //Long stretch
+ if(ticks[TICKS] < tocks[TICKS]){
+ // sleep until the arm is most left
+ rt_task_sleep(ticks[TICKS]/2);
+ rt_task_create(&drawtask, NULL, 0, 50, 0);
+ period = tocks[TICKS]/2+ticks[TICKS]/2;
+ rt_task_start(&drawtask, &taskd, &period);
+ rt_printf("ticks is the short stretch\n");
+ }
+
+ //Print average
+ //rt_printf("avgtick: %lluns, avgtock: %lluns, avgticktock: %lluns\n",
+ // ticks[TICKS], tocks[TICKS], (ticks[TICKS]+tocks[TICKS])/2);