|
Re: FMS enabling sequence?
Quote:
Originally Posted by Jared Russell
I would think that each DS is running its own polling loop asynchronously at ~50Hz (the rate of driver control packets). So even if the disabled bit toggles simultaneously for all six bots from the FMS (which it doesn't since the FMS->DS packets must be sent serially, but it ought to be close), there could be a 20ms swing in when each DS sends the first enabled packet depending on the phasing.
( I am just guessing at how the FMS and DS are architected here since I don't think it is publicly documented; please set me straight if I have made an incorrect assumption. )
Realistically, with our wireless links, synchronization is always going to be hard.
|
There's also another 20+ ms delay caused by the wpilibs if you use anything but the sample robot template. Could end up being up to 40ms depending on how the fpga loops.
__________________
All statements made are my own and not the feelings of any of my affiliated teams.
Teams 1510 and 2898 - Student 2010-2012
Team 4488 - Mentor 2013-2016
Co-developer of RobotDotNet, a .NET port of the WPILib.
|
...regardless of anything that happens, there should be no booing at competitions, only cheers. True, many of us want to win, but in the end, all of us are working to expand FIRST and to promote the inspiration and recognition of science and technology through gracious professionalism. - Aignam [more] 
Threaded Mode