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I'm having a problem, and I hope someone can help me. I've been running winLegOS,
and I've switched to the latest version of BrickOS.
I created a way to control the motors, which will reliably speed them up, and slow them down by using different power settings. This code works fine with LegOS, but not with the newest BrickOS.
Here's part of the code. I just need to set the variables MotorA and MotorC.
// motor speed 0-7 = forward, 0 = fast, 7 = slow
// motor speed 8 = stop
// motor speed 9-16 = reverse, 9 = slow, 16 = full
// 24 = float
int MotorSpeedArray[32] = {1,1,1,1,1,1,1,1,
3,3,3,3,3,3,3,3,
2,2,2,2,2,2,2,2,
0,0,0,0,0,0,0,0};
...
MotorRunningValue = (sys_time & 7);
motor_a_dir(MotorSpeedArray[MotorA + MotorRunningValue]);
motor_c_dir(MotorSpeedArray[MotorC + MotorRunningValue]);
...
With LegOS, if 'MotorA' is set to 3 or 4, the motor will run very smoothly, at less than full speed, but with BrickOS, the same setting will cause it to jump. It's very jerkey. I'm only running one thread, and this is in my main loop.
Can anyone offer suggestions on why this works fine with LegOS, but not the latest BrickOS? Is there something I can turn off in BrickOS or the BrickOS kernal that could be taking up time slices?
Thanks
Steve
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Message has 1 Reply:
 | | Re: BrickOS Threading...
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| The motor handler is only called once ever 2ms in the latest version of BrickOS (as opposed to every 1ms in earlier versions). This is a fairly recent change and it could be causing a "granularity" type problem with certain speed settings in your (...) (22 years ago, 12-Dec-02, to lugnet.robotics.rcx.legos)
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