[Ether]

Originally Posted by Mark McLeod

Oh, I'd never use the nominal Teleop 20ms as a timing device. Only if the event/action doesn't make sense without a new driver order.

Would updating a PID with a fast changing process variable be an example of an action that makes sense without a new driver order?

As you say, doing a system time check and calculation would work in Teleop, but the response action is still going to be occurring at wacky time intervals.

What are the pros and cons of responding to new DS commands immediately (wacky time intervals) vs having constant time intervals and therefore some delay in responding to DS commands? For FRC, are there any situations where it makes a big difference?

You've seen this Timing is Everything whitepaper before.

Yes, great resource, thanks for making that available, should be mandatory reading for all FRC programmers.

What's the downside of "Wait Until Next Multiple" ? When would you ever want to use "Wait" instead?

I apologize if I've asked this question before, but I can't find the answer in my notes: how does LabVIEW implement parallel tasks on the cRIO? Does it use vxWorks to assign each parallel task to its own thread, or does LabVIEW have its own built-in preemptive time-slicing scheduler?