Thread: New C18 3.0+ Compatible FRC Code
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Unread 13-01-2008, 20:46
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Re: New C18 3.0+ Compatible FRC Code
Quote:
Originally Posted by Kevin Watson View Post
Sounds like a fun project. I would not do my PID calculations in a ISR. Instead, I would set up a timer to fire off at 100Hz and then wait for the timer interrupt flag to go high and then do your PID calculations. The ideal place for this code is Teleop_Spin() and/or Autonomous_Spin(). Let me know if you have any problems.

-Kevin
Interesting. You're suggesting I run another timer at 100hz, and use one to time the calls on PWM() and the other one for timing the calculations, right?
I think I might have a simpler solution. I have the ISR that calls on PWM() to set another flag high (not the interrupt flag), and check that flag in the _Spin() functions. As a result, assuming the calculation runs fast enough, I'll be one cycle behind, which would probably be the case either way. Does that sounds like it could work?

Thanks.