[Kevin Sevcik]

Keith,

Great post. I suppose I can't argue with being able to troubleshoot the entirety of the shooter loop sans RC. That's definitely sweet. I was just noting that the PWM update rate for the RC is 26.2ms, unless you're doing fancy things with interrupts and PWM13-16. If you can't do your PID calc in the RC that quickly, you've got serious problems in your code.

Now, you can relatively easily make your own code for PWM13-16 so they update at the 120Hz that's the max the Victors can handle. In which case you might need a quicker calc for your PID.

Come to think of it, I'm curious about the exact signaling and timing of all that data passing back and forth between your processors. If I'm thinking about it right, you'd get at least a 1 cycle delay from your commanded RPM change to the new command being sent to the motors. Maybe more.... Which probably doesn't matter in the rather stable systems in FIRST, but could still be a concern.