Subject:
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Re: Multitasking
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Newsgroups:
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lugnet.robotics
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Date:
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Fri, 14 Jan 2000 19:06:19 GMT
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Original-From:
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David Leeper <[david.leeper@destinysoftware.]nospam[com]>
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Viewed:
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813 times
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Hi Alex,
I was thinking this over last night and was wondering about how sleeping a task
would affect an application that requires precise timing. In the bicycle
example, what would happen if the balancing task was asleep when the bicycle
began to tip?
I think multitasking is certainly useful in situations where the tasks are
disjoint, such as driving the robot and sending a message over the IR port. But
when the tasks need to work together closely, the sleeping issue worries me.
David Leeper (thinks this is an interesting topic)
alex wetmore wrote:
> From: "David Leeper" <david.leeper@destiny.com>
> > I removed the multitasking features from my cruise and avoid code last • night
> > and discovered the robot runs smoother, using less code, and less RCX
> > variables.
>
> Cruise and avoid is a pretty simple type of program, and multitasking really
> isn't necessary. I wrote a sublimation version of it mostly to play with
> the concepts of sublimation. Two nights ago I wrote the same program using
> LegOS and used a more traditional loop there. The two versions are:
>
> http://www.phred.org/~alex/lego/wander.nqc
> http://www.phred.org/~alex/lego/wander.c
>
> I think that the sublimation model becomes a lot more powerful as you have
> many inputs to monitor and build more complex robots. My cruise and avoid
> robots really only have one input to watch -- some sort of bump detection (a
> rotation sensor in the above examples).
>
> An example of a robot type where I think that sublimation would be useful is
> trying to build a balancing and steering vehicle such as a bicycle. Alex
> Nicolaou and I started talking about this in private email a few days ago.
> Here you might want a high priority task which makes the minor steering and
> weight-shift movements necessary to keep the bike balanced, while having a
> lower priority task which controls the same steering and weight-shift
> movements to allow the bike to turn. We'll see how this works out once I
> have time to build such a robot.
>
> Conclusion: multitasking isn't necessary or optimal for all tasks, but it
> can be useful in more complex tasks.
>
> alex
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Message is in Reply To:
 | | Re: Multitasking
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| From: "David Leeper" <david.leeper@destiny.com> (...) night (...) Cruise and avoid is a pretty simple type of program, and multitasking really isn't necessary. I wrote a sublimation version of it mostly to play with the concepts of sublimation. Two (...) (25 years ago, 13-Jan-00, to lugnet.robotics)
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