Subject:
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Re: Interesting BrickOS Timing Results
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Newsgroups:
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lugnet.robotics.rcx.legos
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Date:
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Wed, 15 Jan 2003 04:19:05 GMT
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Viewed:
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3222 times
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Mark,
I retrieved the latest BrickOS from CVS, made clean and made the cpu
test program you listed.
I then made two small changes (to see what would happen); first the
results, then the changes:
IDLE: 89
2ROT: 87
NOAD: 91 (see below)
NIRQ: 98 (see below)
Ok, this looks promising, here is what I did. This is the most simple
change I could think of on short notice 8-)
I commented out the line:
bset #0x5,@_AD_CSR:8 ; go!
at the end of the ds_handler; so now the A/D convertion doesn't start up
again (yet)
Then I added the same line to the end of the systime_handler. This
starts the A/D conversion every 1 msec.
OK, so this is not the end-all solution, but it is a good start IMO.
The interval should be user selectable (maybe) at run-time. However,
the numbers are much higher with this simple change. I would love to
test it with the rotation sensor at various speeds (motor x 1, motor x
2, x 3, etc..) to see how it performs in comparison with the original
method. However, I don't have time right now.
// Joe
Mark Riley wrote:
> Oops, found a little bug. ;-) Forgot to turn off the rotation
> sensors. Caused a wrong reading if you let the program
> run through the readings more than once. The rotation
> sensor section should read like this:
>
> // with two rotation sensors enabled (23%)
> cputs("2rot"); msleep(100);
> ds_rotation_on(&SENSOR_1);
> ds_rotation_on(&SENSOR_2);
> cpu();
> ds_rotation_off(&SENSOR_1);
> ds_rotation_off(&SENSOR_2);
> sleep(3);
>
> Mark
>
>
>
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Message has 2 Replies:
 | | Re: Interesting BrickOS Timing Results
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| I did some "real world" tests with this update. I was Astounded at what a difference it makes. The bot I was testing with is a killough platform; which I had tried for hours previously, to get it to follow a line smoothly. I think BrickOS was giving (...) (22 years ago, 15-Jan-03, to lugnet.robotics.rcx.legos)
| | | Re: Interesting BrickOS Timing Results
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| Joe, That's definitely an improvement! So, that would be a 250 Hz sample rate for any given sensor. I just tried a modification similar to yours that did all 4 conversions every OCRA/B interrupt (or 1 KHz sample rate) and got: IDLE: 82 2ROT: 77 (...) (22 years ago, 15-Jan-03, to lugnet.robotics.rcx.legos)
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Message is in Reply To:
| | Re: Interesting BrickOS Timing Results
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| Oops, found a little bug. ;-) Forgot to turn off the rotation sensors. Caused a wrong reading if you let the program run through the readings more than once. The rotation sensor section should read like this: // with two rotation sensors enabled (...) (22 years ago, 14-Jan-03, to lugnet.robotics.rcx.legos)
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