[Ether]

Originally Posted by gpetilli

We set up a timed PID thread with period 10ms. We set up a delta time measurement in both the teleop periodic and timed PID loops and plotted the delta times.

Could you give some additional detail on how you set up the delta time measurement?

For example, did you do it like this:

// begin thread
new_time = get_time();
delta_time = new_time - previous_time;
previous_time = new_time;
.
.// do stuff here
.
// end thread

or like this:

// begin thread
start_time = get_time();
.
.// do stuff here
.
delta_time = get_time() - begin_time;
// end thread

or something else?