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Re: Benefits of "Periodic Tasks VI"?
There are several watchdog and safety mechanisms in effect.
The system watchdog will shutdown the robot outputs when the DS communications is interrupted or an estop takes place. The 100ms timeout is controlled by the Robot Safety mechanism and it automatically zeroes configured robotDrive motors after 100ms. Not setting RobotDrive every 20ms will lower CPU usage, but I'm curious as to how much.
Greg McKaskle
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