Quote:
Originally posted by Wetzel
Anyone have a good guess what any lag would be?
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Well, it depends on the computer you're running it on. The only real lag would come in the time it takes to say the word "up" or "gripper in" or (even worse) "start to dance in circles and make things go boom."
The IFI control system will loop approx. every 1/30th to 1/40th of a second, depending on how much stuff it has to do between the serin and serout as well as how much it has to serin. The way I'm thinking of doing it, you wouldn't use the OI at all and so your code would just be:
...declare variables...
Serin COMA/COMB, ..., [valForPWM1, relayA, valFor2, etc...]
Serout USERCPU, ..., [valForPWM1, relayA, etc...]
This should be very fast and would only depend on the speed at which the computer could throw data at the Tether port.
Again, this assumes that the tether is RS-232, whcih no one has been able to confirm. Basically, the computer would make the RC "think" it is the OI and instead of sending raw joystick values, etc it would send the pre-processed motor output values. Then the RC just needs to turn around and spit these values at the output uP.
Are people actually interested in this? Nobody has reported any errors in RoboEmu 1.06 as of yet, so I don't really have a programming project going right now, and that's not a good thing for my sanity. Anyway, I'll either start working on this or I'll do a Linux port of RoboEmu. Both are projects I've had on my list for a long time, although I got the idea for this one back before nationals last year.