New C18 3.0+ Compatible FRC Code

[Guy Davidson]

Originally Posted by Kevin Watson

Sounds like a fun project. I would not do my PID calculations in a ISR. Instead, I would set up a timer to fire off at 100Hz and then wait for the timer interrupt flag to go high and then do your PID calculations. The ideal place for this code is Teleop_Spin() and/or Autonomous_Spin(). Let me know if you have any problems.

-Kevin

Interesting. You're suggesting I run another timer at 100hz, and use one to time the calls on PWM() and the other one for timing the calculations, right?
I think I might have a simpler solution. I have the ISR that calls on PWM() to set another flag high (not the interrupt flag), and check that flag in the _Spin() functions. As a result, assuming the calculation runs fast enough, I'll be one cycle behind, which would probably be the case either way. Does that sounds like it could work?

Thanks.