Periodic Task (vi) - Thoughts?

[Richard100]

Greg - Does this apply to Autonomous as well? Should a while loop in autonomous (say, iterating while waiting for a drive encoder to reach a certain distance) - be moved to periodic tasks? Is there any difference in a loop running within periodic tasks and one running in autonomous?

We're getting performance issues (drive motors stop intermittently) while running this autonomous and the concurrent vision processing loop. We have a 50 ms delay in the autonomous loop and 20 ms delay in the vision loop.

[Greg McKaskle]

The only thing special about the autonomous VI is that it is dynamically launched and aborted after the autonomous is over. If you would like to distribute some of the processing into other loops, that is fine. The parallel loops can be in periodic.vi or even in the autonomous.

Another thing to consider is whether you would like to use the exact same periodic loop code for a mechanism. Use it during tele and during auto. This should allow for more consistent control.

Greg McKaskle