SRX Motion Profiling Control

[Ty Tremblay]

In this example, and in the documentation, we're told that we should run

_talon.processMotionProfileBuffer();

about twice as fast as the duration of our trajectory points.

I'm just curious why this is implemented this way. If I'm running a trajectory point every 20ms, why do I need to tell the Talon to process its points every 10ms?

I'm not asking about the timing, but more why the talon needs to be notified instead of processing the buffer on its own. I'm sure I'm missing something, but I would have expected to be able to tell the Talon to start processing its buffer, and then check to see if it's done.