[FTC]: Lag and Teleop (Labview)

[PhilBot]

Originally Posted by iblis432

I have just finished a revised version of how teleop code. I think I've ironed out most of the problems, but I would like to submit it here for review while I'm waiting on a chance to work on the robot.

Hi

Looks much better now.
Some suggestions:

1) You should put a small time delay in the lower control loop (maybe 25mS). This will prevent the arm control loop from hogging all the spare CPU cycles when it's not doing anything.

2) Your "Enable" logic is not quite right. You don't want to be exiting the arm control loop based on the enable flag. Both loops should run forever (FALSE wired to terminator), but the Enable indicator should be set by the Robot Driving Case Structure (True if driving, False if disabled). Then if you want to use this indicator to also disable your arm control (good programming practice), then put a case structure in your arm loop to do-nothing if the "Enabled" local variable is false.

3) Your Button 5 code turns on the NXT motor if the button is pressed, but doesn't turn it off when the button is released....

Hope this helps.

Phil.