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Re: Configure Timers
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Originally Posted by Ether
Just curious: Have you ever measured the scheduling jitter? e.g. add code to toggle an IO pin at the start of the run() method and look at the pin on a scope.
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I have, and the worst I have seen is 2 ms of jitter, measured on the cRIO using the System Timer. This was both running at a 40ms period and a 100ms period, where the run() method had a 1ms calculation time.
So for example, if I was running something with a 40ms period, It would actually run between 38 - 42 ms, but for the most part the cRIO was pretty good about keeping it constant 40.
All of the threads I run on the robot use the TimerTask class. The timer task does not preempt the running thread, if they are at the same priority so keep that in mind, it will affect your thread execution.
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Controls Engineer, Team 2168 - The Aluminum Falcons
[2016 Season] - World Championship Controls Award, District Controls Award, 3rd BlueBanner
-World Championship- #45 seed in Quals, World Championship Innovation in Controls Award - Curie
-NE Championship- #26 seed in Quals, winner(195,125,2168)
[2015 Season] - NE Championship Controls Award, 2nd Blue Banner
-NE Championship- #26 seed in Quals, NE Championship Innovation in Controls Award
-MA District Event- #17 seed in Quals, Winner(2168,3718,3146)
[2014 Season] - NE Championship Controls Award & Semi-finalists, District Controls Award, Creativity Award, & Finalists
-NE Championship- #36 seed in Quals, SemiFinalist(228,2168,3525), NE Championship Innovation in Controls Award
-RI District Event- #7 seed in Quals, Finalist(1519,2168,5163), Innovation in Controls Award
-Groton District Event- #9 seed in Quals, QuarterFinalist(2168, 125, 5112), Creativity Award
[2013 Season] - WPI Regional Winner - 1st Blue Banner
Last edited by NotInControl : 02-02-2013 at 01:30 AM.
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