sleep()

[gnormhurst]

Originally Posted by Astronouth7303

It's not that, it's that the main loop has different iteration times depending on what is executed.

Do you mean "execution times"? I take "iteration time" to be the time between iterations of the 26.2 ms loop area. I actually measured this with a scope on Saturday, it was very interesting:

  while (1)   /* This loop will repeat indefinitely. */
  {

    if (statusflag.NEW_SPI_DATA)      /* 26.2ms loop area */
    {                                 /* I'm slow!  I only execute every 26.2ms because */
                                      /* that's how fast the Master uP gives me data. */
      rc_dig_out17 = 1;   // take pin 17 high      
      Process_Data_From_Master_uP();  /* You edit this in user_routines.c */

      if (autonomous_mode)            /* DO NOT CHANGE! */
      {
        User_Autonomous_Code();        /* You edit this in user_routines_fast.c */
      }
    }
    Process_Data_From_Local_IO();     /* You edit this in user_routines_fast.c */
    rc_dig_out17 = 0;  // clear pin 17                                      /* I'm fast!  I execute during every loop.*/
  } /* while (1) */

This made a pulse of about 4 ms in duration (the "exectution time" of my code), with a (measured) cycle time ("iteration time") of about 26 ms. Hitting certain buttons would change the 4 ms to something else like 3 ms as my code changed modes, but the period remained 26 ms. It seemed pretty rock-solid. Except when very strange things were happening; see my earlier post on that. But that was something broken.

One reason a delay might be useful is to reduce the frequency of calls to Generate_Pwms(). See the reply from Kevin Watson to the post mentioned above.

-Norm