Quote:
Originally Posted by Tom Bottiglieri
Off topic a bit - I saw your team was using Java this year. Have you run into issues with the timing of the JVM's Timer? We have used this construct successfully over the past two years, but on the roborio the timing is complete garbage. We have ditched using derivatives on any control loops due to massive noise.
My best theory is the squawkVM was ported manually and used VXworks timers under the hood. The standard JRE we use now probably just sleeps or something.
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More off topic -- I'm pretty sure that the JVM just does a sleep under the hood. To get more precise timing in python, we did a big sleep, then sleeps in increments of 200us to get the rest of the way there. We get +/- 0.5ms accuracy with this method.