Chief Delphi - Java wait Function

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Re: Java wait Function

The MotorSafetyHelper is disabled by default for the Victor, Jaguar, and Talon classes. It is enabled by default for RobotDrive with a 100 ms timeout.

From RobotDrive.java:

Code:

...

public static final double kDefaultExpirationTime = 0.1;

...

private void setupMotorSafety() {

    m_safetyHelper = new MotorSafetyHelper(this);

    m_safetyHelper.setExpiration(kDefaultExpirationTime);

    m_safetyHelper.setSafetyEnabled(true);

}

Re: Java wait Function

That matches what I'd hoped for. Great.

Greg McKaskle

Re: Java wait Function

Quote:

Originally Posted by cgmv123 (Post 1351209)

Timer.delay() is supposed to leave outputs set where they are as well, but I've had more success using Timer.getFPGATimestamp() in conjunction with a loop.

If I remember correctly, Timer.delay() is a wrapper and simply calls Thread.sleep().

This causes the calling thread to sleep, and thus will cause your robot to hang unless called from a separate thread.

Use time stamps as mentioned.

System.getCurrentTimeMillis, or the FPGA timer, or anything else in a loop,

or spawn a separate thread and call thread.sleep() in the new thread.

But do not call Thread.sleep or Timer.Delay in the same thread as your TeleOp/Auto periodic functions.

Hope this helps,
Kevin