Processing data quickly in autonomous

[jgannon]

I'm working on some code that requires processing data more frequently than every 26.2ms. In driver-controlled mode, this is not a problem, because I can use Process_Data_From_Local_IO(). However, the autonomous function waits for statusflag.NEW_SPI_DATA before every loop. Is there any reason that I can't put a call to Process_Data_From_Local_IO() outside of that if statement? I can't imagine why it wouldn't work, but I want to make sure that it's not going to do bad things if I do.

[Tom Saxton]

Yeah, we did that last year, it worked great. You can also use interrupts, which we used for counting encoder ticks.

[jgannon]

Yeah, interrupts are the only way to go for encoders. However, the interrupt handler is a bad place to be doing math for other sensors. Thanks for the info... being able to process data quickly in autonomous will help immensely.

[Greg Ross]

Originally Posted by jgannon

I'm working on some code that requires processing data more frequently than every 26.2ms. In driver-controlled mode, this is not a problem, because I can use Process_Data_From_Local_IO(). However, the autonomous function waits for statusflag.NEW_SPI_DATA before every loop. Is there any reason that I can't put a call to Process_Data_From_Local_IO() outside of that if statement? I can't imagine why it wouldn't work, but I want to make sure that it's not going to do bad things if I do.

Actually, the call to Process_Data_From_Local_IO() IS outside of the if statement. And there is no waiting going on. The main loop simply checks the statusflag.NEW_SPI_DATA flag to see if new data is available from the master microprocessor. (It only reads memory. I doesn't make a function call.) If there is data available, it is processed, and then regardless of whether there was NEW_SPI_DATA available, it calls Process_Data_From_Local_IO.

[edit]
Sorry. I missed that you were talking about autonomous mode. I'll get back to you on that (if someone else doesn't beat me to it.)
[/edit]

[Max Lobovsky]

I tried to fix that, but I seemed to have failed. See this post: http://www.chiefdelphi.com/forums/sh...threadid=32073