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 18:44:28 GMT
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Viewed:
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2734 times
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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 the
next release will be packaged. Hopefully I will be able to get those
changes in there.
Mark,
I will take a look at your function tonight and try to get it into
systime.c right away. Maybe we can rig up a change that will cause the
"glitch" to occur more often (increment sys_time twice per tick, or
something)
// Joe
Steve Hassenplug wrote:
> 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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| Joe, (...) Maybe a special kernel build for testing purposes that increments the lower sys_time word by 0x4000 instead of 1. This will greatly increase the opportunity for this glitch to occur (from once every 65 seconds to once every 4ms.) You (...) (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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| (...) 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 (22 years ago, 13-Dec-02, to lugnet.robotics.rcx.legos)
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