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  #16   Spotlight this post!  
Unread 04-03-2014, 11:50
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Domenic Rodriguez Domenic Rodriguez is offline
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Re: Java wait Function

The MotorSafetyHelper is disabled by default for the Victor, Jaguar, and Talon classes. It is enabled by default for RobotDrive with a 100 ms timeout.

From RobotDrive.java:
Code:
...
public static final double kDefaultExpirationTime = 0.1;
...
private void setupMotorSafety() {
    m_safetyHelper = new MotorSafetyHelper(this);
    m_safetyHelper.setExpiration(kDefaultExpirationTime);
    m_safetyHelper.setSafetyEnabled(true);
}
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  #17   Spotlight this post!  
Unread 10-03-2014, 21:07
Greg McKaskle Greg McKaskle is offline
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Re: Java wait Function

That matches what I'd hoped for. Great.

Greg McKaskle
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Unread 14-03-2014, 15:45
NotInControl NotInControl is offline
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Re: Java wait Function

Quote:
Originally Posted by cgmv123 View Post
Timer.delay() is supposed to leave outputs set where they are as well, but I've had more success using Timer.getFPGATimestamp() in conjunction with a loop.
If I remember correctly, Timer.delay() is a wrapper and simply calls Thread.sleep().

This causes the calling thread to sleep, and thus will cause your robot to hang unless called from a separate thread.

Use time stamps as mentioned.

System.getCurrentTimeMillis, or the FPGA timer, or anything else in a loop,

or spawn a separate thread and call thread.sleep() in the new thread.

But do not call Thread.sleep or Timer.Delay in the same thread as your TeleOp/Auto periodic functions.

Hope this helps,
Kevin
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