CPU usage 100% & twitchy robot?

[EricVanWyk]

Originally Posted by Alan Anderson

I don't think your bridge manipulator motor is going to work the way you want it to. You're setting it in two places, and the second one (on the right) is going to win.

Actually, we can't know which one will win: They are not dependent on each other, since the motor ref branches before the set vis. In the purist analysis, either one can fire first and their firing order could be "randomly" re-chosen each iteration. In reality, the optimizer might clump those two commands in an arbitrary order determined at compile time. The "winning" set will still be "randomly" chosen as the fpga timing interacts with the CPU timing, though one will be heavily favored over the other.

Regardless, the result will be a twitchy bridge manipulator. It will toggle between the two set commands unpredictably.


My prediction is that you actually have two problems: The twitchiness is caused by the two set commands racing eachother, and your CPU is being pegged to 100% by a separate error (likely a while loop with no wait in it).