[Alan Anderson]

I'm having difficulty trying to tune a velocity PID loop, and I've come to the conclusion that part of my problem is that the PWM outputs aren't changing at a predictable time relative to the PID sample time. They're not even changing at the same rate.

Is there a way to detect when the User and Master CPUs have exchanged their information? Or does EasyC even use the same "every 26.2 ms" scheme that the IFI default code has? So much is hidden behind the scenes and I don't know how to peek behind the curtain.

EasyC is easy for simple stuff, but I'm apparently fighting it when I want to try more advanced coding. I can't believe that I have to jump through so many hoops to do things that aren't predefined, and I have to think I'm just failing to see the "right" way.