Subject:
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Re: BrickOS Threading...
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Newsgroups:
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lugnet.robotics.rcx.legos
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Date:
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Fri, 13 Dec 2002 13:20:21 GMT
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Viewed:
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2896 times
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In lugnet.robotics.rcx.legos, Joseph Woolley writes:
> Steve Hassenplug wrote:
> > In lugnet.robotics.rcx.legos, Mark Riley writes:
> > > 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 code. • <snip>
> > This change seem to improve things. Can I change it back to the way it was
> > before?
>
> Steve, Yes, infact I had tested a couple different applications with
> the motor controller being called every 1 ms and the same ones with a 2
> ms interval. I didn't see a difference with those applications, but did
> recognize the possibility that it could have adverse effects.
>
> I will take a look at the code again, if you want; and try to get it
> back into cvs right away... if you wish. It all has to do with the
> timing of the interrupts and the placement of the code in the interrupt
> handler (some code gets executed every 1 ms, other code every 2 ms.
In trying to balance an RCX on two wheels, every little bit makes a
difference. I didn't think it would matter quite that much, but my robot
really shakes more with the new version.
Thanks for the work,
Steve
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Message has 1 Reply:
 | | Re: BrickOS Threading...
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| Steve, I checked in some changes this morning (into cvs) to put the motor controller back at the 1 ms interval. However, I want to complete the get_sys_time() updates that Mark Riley has proposed; so that can be tested as well. I am not sure when (...) (22 years ago, 13-Dec-02, to lugnet.robotics.rcx.legos)
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Message is in Reply To:
| | Re: BrickOS Threading...
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| (...) <snip> (...) Steve, Yes, infact I had tested a couple different applications with the motor controller being called every 1 ms and the same ones with a 2 ms interval. I didn't see a difference with those applications, but did recognize the (...) (22 years ago, 13-Dec-02, to lugnet.robotics.rcx.legos)
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