Quote:
Originally Posted by compwiztobe
But doesn't this suspend the entire 100 ms loop for the whole 3 seconds?
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Yes, but it doesn't freeze up
other concurrent tasks. The "watchdog delay and feed" releases the processor to go service other tasks while it's waiting for the specified delay to expire. It doesn't sit there burning cycles.
Quote:
Originally Posted by compwiztobe
what do you mean by event driven?
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event-triggered. an event (the press of a joystick button) triggers the periodic task to go do something.
for example: you could set up your kicker as a separate 50ms periodic task that normally does nothing except check to see if the "kick" button is pressed. if the button is pressed, it goes through the kick cycle, taking as long as it needs. It can take as long as it needs because if it's in a separate periodic task, then it is run concurrently and doesn't prevent other robot tasks (like driving) from running.
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