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 Good programmers always find a better way to do something, especially when it's not obvious where those improvements can be found. - Mr. Lim [more] |
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PID kills safety thread
I just got finished putting in PID VI's into a loop in the periodic tasks VI. I am feeding the PID with global variables so that PID can be used in autonomous as well as teleop.
When I enable, I get a string of error messages that tell me that my code isn't running fast enough and that the RobotDrive VI is not being updated enough! I need to use PID because the robot doesn't drive straight. I figured that the closed-loopedness of PID would alleviate these problems, not add to them! Simplified: How do I make PID work so that the wheels are driven at the speeds they should be and make the safety thread happy as well. 
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