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Unread 15-04-2014, 07:40
Greg McKaskle Greg McKaskle is offline
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FRC #2468 (Team NI & Appreciate)
 
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Re: using interrupts in FRC

In '08, for the introduction of the cRIO, some AEs built an ambitious robot named NItro. It had three omni wheels with encoders and they decided to use NI Soft Motion and interrupts to calculate the Jacobian for the motor control values for path planning.

I came on late to help them finish the project and found that they weren't acknowledging the interrupts but were still running fine. I also found that they were running over 15k interrupt handlers per second, but again, running fine. At the booth, they ran the robot all day long in its wooden pen going through battery after battery.

This was with LV, so I cannot comment on the C++ handlers, and this was before the FRC FPGA was complete, so it is not apples to apples.

Anyway, interrupts are in the product and should work. If you have issues, please provide details so that we can improve them or their documentation.

Greg McKaskle