Subject:
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Re: Ooops! NXT Software Comparison correction
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Newsgroups:
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lugnet.robotics.nxt
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Date:
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Sun, 2 Sep 2007 21:47:02 GMT
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Viewed:
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22165 times
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I can further manipulate the numbers for this timing test by using the enhanced
standard firmware's support for adjusting a thread's priority.
Here's the results when I tweak priorities:
W/O LCD LCD Priorities
---------------------------------
50617 22608 40/5
63211 27375 80/5
73418 31070 200/5
That's setting the USSensorTask (aka the cheat) to have a priority of 5 rather
than its default level of 20 and increasing the priority level of the
TimingLoopTask thread as shown.
The bottom line is if you really want to get a valid distance reading from the
LEGO Ultrasonic sensor then Steve's loop has a maximum iteration limit of ~4000
unless you cheat and move the sensor reading outside of the loop. Or you could
simply ignore the fact that the sensor is not returning accurate results and
report loop iteration counts that are erroneous. As it stands now the numbers
are not comparing apples to apples.
John Hansen
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Message has 1 Reply:
 | | RE: Ooops! NXT Software Comparison correction
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| (...) After tuning, NBC achieved 73K test cycles. It achieved these great results by setting the task "priority" to 200. Unfortunately, unless the NXT-G task scheduler has been rewritten, these results might be a little too high. A NXT-G task (or (...) (17 years ago, 6-Sep-07, to lugnet.robotics.nxt)
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Message is in Reply To:
| | Re: Ooops! NXT Software Comparison correction
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| (...) So if I cheat I can move the I2C transaction out of the actual timing loop (which may be what some other folks are doing, effectively) then with a "read" of the Ultrasonic sensor value in the loop and all sensors and motors attached I get (...) (17 years ago, 2-Sep-07, to lugnet.robotics.nxt)
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