[popo308]

Originally Posted by whitetiger0990

    if (statusflag.NEW_SPI_DATA)      /* 26.2ms loop area */
    {                                 /* I'm slow!  I only execute every 26.2ms because */
                                      /* that's how fast the Master uP gives me data. */
      Process_Data_From_Master_uP();  /* You edit this in user_routines.c */

      if (autonomous_mode)            /* DO NOT CHANGE! */
      {
        User_Autonomous_Code();        /* You edit this in user_routines_fast.c */
      }
    }

Stuff in Process_Data_From_Master_uP() will be run every 26.2ms. Same with User_Autonomous_Code() (when the robot is in autonomous).

It doesn't vary much to matter, if you have code that makes it take longer than 26.2ms to run it, it will explode.

Thanks! Thats exactly what i was looking for... I thought i had seen that in the code before but when i went to look for it i couldn't find it