bug? wait function has a 1ms error
10 years 2 weeks ago #29528388
by sd1074
bug? wait function has a 1ms error was created by sd1074
I think I've found a bug.
Environment:
- Firmware ID: Roboteq v1.2 RCB100 08/24/2011
- Motor control utility Rev 1.2. 1-4-13
- Controller is in open loop mode for both channels
Here is the test code:
I
- ran this piece of code on the notorcontroller for 10sec (was using an external clock)
- stopped it by clicking on the Stop button (so the measurements are not perfectly accurate, but still pretty good)
- checked the VAR value
I did this four times with diffrent wait function arg value. Here are my results:
As it can be seen from the results, wait(X) actually pauses the script for (X+1) ms rather then X ms as it should.
On a relevant note, the following code takes 1ms:
whereastakes 2ms.
Environment:
- Firmware ID: Roboteq v1.2 RCB100 08/24/2011
- Motor control utility Rev 1.2. 1-4-13
- Controller is in open loop mode for both channels
Here is the test code:
n=0
while True
n++
SetCommand(_VAR,0,n)
wait(1) 'this line was varied between experiments (see below)
end whileI
- ran this piece of code on the notorcontroller for 10sec (was using an external clock)
- stopped it by clicking on the Stop button (so the measurements are not perfectly accurate, but still pretty good)
- checked the VAR value
I did this four times with diffrent wait function arg value. Here are my results:
| wait line | Finale VAR value | Average cycle period |
| no wait | VAR=1049140 | 9.5us |
| wait(0) | VAR=10078 | 0.99ms |
| wait(1) | VAR=4955 | 2.02ms |
| wait(2) | VAR=3392 | 2.95ms |
As it can be seen from the results, wait(X) actually pauses the script for (X+1) ms rather then X ms as it should.
On a relevant note, the following code takes 1ms:
SetTimerCount(0,0)
while GetTimerState(0)=0
end whilewhereas
SetTimerCount(0,1)
while GetTimerState(0)=0
end whilePlease Log in or Create an account to join the conversation.
- Griffin Baker
10 years 1 week ago - 10 years 1 week ago #29528394
by Griffin Baker
Replied by Griffin Baker on topic bug? wait function has a 1ms error
Please update to the latest firmware and try again.
dev.roboteq.com/dev1/index.php/support/downloads
Also update your version of Roborun+
dev.roboteq.com/dev1/index.php/support/downloads
Also update your version of Roborun+
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- Griffin Baker
10 years 1 week ago #29528395
by Griffin Baker
Replied by Griffin Baker on topic bug? wait function has a 1ms error
A value of 0 means the script must pause until the next 1m tick, which does result in a 1ms rate. A wait of 1 means pausing 1ms instead of starting at the next ms tick.
Thank you for your observation.
Thank you for your observation.
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