On interrupts and analog sampling

[adciv]

My understanding is the fpga acts as a pass through. For all inputs and outputs and it is also how the system watchdog is controlled. The fpga is also where the Gyro analog value is integrated/processed, encoders are counted and possibly a few other things.

There is an explicit labview vi provided in the frc wpi VIs called interupt which is what I am trying to find out about. It pauses the code loop it is in until the condition is met. It appears to also use the fpga based on some of the calls I see when I examine it.

I am interested in using this over polling the sensors inputs on the robot. We have to pool these continuously in order to have some of the automation functions we use. Our poll rates have varied over the years from 100 ms to 20ms. If we could eliminate this in favor of interrupts based on when our sensor inputs change we could reduce our processor utilization.