Using a separate thread for driving motors?

[Jefferson]

Originally Posted by lopsided98

Sorry for the misunderstanding: I meant that it will run away until you realize what is happening and press disable/e-stop, which isn't that big a problem.

But I still don't think that's the case. I don't believe separate threads outside the main robot thread can keep the robot alive if the main thread has died.

[Ben Wolsieffer]

Originally Posted by Jefferson

But I still don't think that's the case. I don't believe separate threads outside the main robot thread can keep the robot alive if the main thread has died.

Yes, your right. I'm more used to working with Java, where this is not the case, but in C++ (which I just realized the OP was using), exiting the main thread does cause all other threads to terminate.

[Ether]

Originally Posted by Jefferson

I don't believe separate threads outside the main robot thread can keep the robot alive if the main thread has died.

Originally Posted by lopsided98

Yes, your [sic] right... in C++, exiting the main thread does cause all other threads to terminate.

Jefferson wrote "if the main thread has died", and lopsided98 wrote "exiting the main thread".

So it's not yet clear if you are both saying exactly the same thing. It depends on Jefferson's intended meaning of "died": If the main thread is blocked or busy-waiting for an event that never occurs, it could be considered to have "died" but not "exited".

[Ben Wolsieffer]

Ether brings up a good point. I was thinking about the case where the main thread finished its execution or threw an exception, in which case all other threads would exit.

But if for the main thread locked up without actually exiting or crashing (something that becomes more likely when you start communicating between multiple threads), the other threads (such as the one controlling the driving) could continue executing. Like I mentioned before, the e-stop/disable buttons would still be able to stop the robot in this case.

[connor.worley]

OP, would you mind posting your code? I would advise trying to find the root of the problem in the main thread rather than moving drive code out.

[Ether]

Originally Posted by connor.worley

I would advise trying to find the root of the problem

ditto that.

[Jefferson]

Originally Posted by Ether

Jefferson wrote "if the main thread has died", and lopsided98 wrote "exiting the main thread".

So it's not yet clear if you are both saying exactly the same thing. It depends on Jefferson's intended meaning of "died": If the main thread is blocked or busy-waiting for an event that never occurs, it could be considered to have "died" but not "exited".

Good point. I meant exiting the main thread.

I'll throw in with everybody else and recommend finding the root cause of the motor safety errors in the first place.

[DanG100]

This is the code for the robot, except all the camera code was commented out at competition.
https://github.com/Saint-Francis-Rob...367/FinalRobot