Thread: New C18 3.0+ Compatible FRC Code
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Unread 11-02-2008, 15:04
Dave Flowerday Dave Flowerday is offline
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Re: New C18 3.0+ Compatible FRC Code
Kevin,
We discovered a side effect of the new code setup that I thought I should point out. I've only read this thread sporadically, so maybe it's already been mentioned - if so apologies for bringing it up again.

We had some feedback code that we implemented in the _Spin() functions since we wanted it to execute faster than the 26.2ms rate. The side effect that we found was that if you do something which causes your Autonomous() code (for instance) to take longer than 26.2ms to execute, then Autonomous_Spin() will never execute. The problem this caused for us was that our feedback was obviously not running when this occurred.

Anyway, I don't consider this a flaw in the code or anything, merely a behavior that I wanted to make sure others were aware of. We will probably modify ifi_frc.c and remove the "else" blocks around the _Spin() functions, which will ensure that the _Spin() code gets executed at least once per main loop.

Maybe it would be worth a note in the comment blocks before each _Spin() function noting that those functions will only be called if there's extra time left over after processing the new command packet.

Dave