[drakesword]

Sorry forgot to list it.

Yes the average was 11 errors which we didn't find as a significant improvement over B.


Another small note I forgot to add is that with B and D is we encountered these errors even if the robot was not moving at all for the entire 2 minutes.

I do believe the case that it is processor starving.

I have not looked at the source of the jag firmware but does thae jag ever decide to "drop" a frame to keep up with timing of the PID? Or could there be an interrupt overriding the sending of a frame?

When I was messing with the jags on my own I was sending one frame to each Jag I wanted to control. Then the jags would execute the command until another one was sent.

So in that situation I would say "Move the motor X rotations" and not do anything else. The Jag happily went on its job making the motor go X revolutions.

Its my understanding that this has been modified for safety (which is understandable) to require the "trusted" heartbeat. Does anyone know the interval that the heartbeat must be receive in order to keep it alive? and Does anyone know the actually rate in which the heartbeat is being sent?