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Re: Running pid loops in a separate thread.
As stated above fully possible. Team 3946 used it in 2013 for our RPi (RPi was doing image processing/goal tracking).
All of our code is available here: UltimateAscent
The specific classes you would probably want to look at are ThreadedPi, ThreadedBerryPi under Subsystems, and PrintThreadPiData under Commands.
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 Programmer - A creature known for converting Caffeine into Code.
Studying Computer Science @ Louisiana Tech University
Associate Consultant @ Fenway Group
2012-13: 3946 - Head of Programming, Electrical and Web
2014 - 3468 - Programming Mentor
2015 - Present - Lurker
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