Quote:
Originally Posted by GeeTwo
If you wrote a dedicated CAN thread
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If you look at
section 20 of the Talon SRX manual it looks like the implementation is already only using the CAN bus in a single thread, with different data requests at different times. So (based on the document) it looks like whenever you call the CAN functions for the SRX, all you really are doing is accessing a global that already contains the data.
We are running 9 talon SRX controllers, and three of them are reading their sensor data in seperate threads. We have not seen any issues, though we do see strange, and quite large spikes, in the CPU usage data at a very periodic rate (~7 seconds?) that line up with small increases in CAN utilization. Not sure if that is related but I could imagine this would cause issues if the spikes hit 100% for any extended time.