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Unread 09-02-2017, 14:28
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Faster loop scheduling

I've learned that some teams use a special (not in WPILib) way of scheduling their loop callbacks. I've seen the number 200Hz thrown around occasionally. I believe (at least for C++) that WPILib tries to schedule at ~50Hz. Obviously, tighter control loops would be nicer, but I have 2 questions about this:
  1. How hard is this to implement? I have tried to look around in WPILib, but I haven't found an obvious way to do so right now.
  2. How much benefit does it bring? Clearly faster control loops are better than slower ones, but really how much does it add? Are there things you can do with a faster control loop that you can't with the standard ~50Hz WPILib one?
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