[Guy Davidson]

I am planning on using the custom pwm.c/h code to generate the two pwm signals at 100Hz. I realized that unless I am also providing command and mointoring the system at 100Hz, it won't gain me anything (i.e. if I were to generate pwm commands in the 38Hz loop and update the commands at 100Hz, I don't think I'd gain anything). Hence I am also planning to update encoder-based pid loops at a rate of 100Hz. Not only this will give me a constant interval between updates, making my velocity estimates more reliable, it should make use of the faster update rate by generating commands at that rate.

Will doing something like that impact the performance of the the pwm functions? My PID loop code is not much more than a bunch of logical tests and integer multiplications. I am wondering if I should be okay if I call the PID code from within the Timer ISR that generates the pwm signal, or am I risking a significant drop in performance.

Thanks (and I hope my question is worded clearly enough - if not, please let me know, and I'll try to reword it)