Quote:
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Originally Posted by Shadow31
We're trying to look at autonomous code and we're trying to figure out how much time we need to move the robot to travel 19.5 feet. Does anyone know how fast the autonomous loop executes? How many milliseconds?
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If you look at main.c you will see this code:
if (statusflag.NEW_SPI_DATA) /* 26.2ms loop area */
{ /* I'm slow! I only execute every 26.2ms because */
/* that's how fast the Master uP gives me data. */
Process_Data_From_Master_uP(); /* You edit this in user_routines.c */
if (autonomous_mode) /* DO NOT CHANGE! */
{
User_Autonomous_Code(); /* You edit this in user_routines_fast.c */
}
}
Process_Data_From_Local_IO(); /* You edit this in user_routines_fast.c */
/* I'm fast! I execute during every loop.*/
}
From this one could conclude that it loops every 26.2ms because it is within the slow loop area.