Joystick Delay

[apalrd]

My advice is to ALWAYS write the code without any waits other than while-throttling waits.

Basically, your code design should always assume that any function call must return as fast as possible. This includes thinking about code efficienty, excessive function calls, calculating the same thing multiple times, Wait statements, Wait On Interrupt, waiting for events to return, etc. should all be done through state-machines and not actually blocking.

Our code currently runs in a 10ms RT look with very deterministic timing (average jitter is 10us or so) with no missed periods at under 50% CPU load. The speed limit is the radio packets which are sent at 50hz (we should get new HMI data every other loop, but we still can process new sensor data every 10ms).