bug? wait function has a 1ms error

6 years 9 months ago #29528388 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:
n=0
while True
	n++
	SetCommand(_VAR,0,n)
	wait(1) 'this line was varied between experiments (see below)
end while

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:
wait lineFinale VAR valueAverage cycle period
no waitVAR=10491409.5us
wait(0)VAR=100780.99ms
wait(1)VAR=49552.02ms
wait(2)VAR=33922.95ms

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 while

whereas
SetTimerCount(0,1)
while GetTimerState(0)=0
end while
takes 2ms.

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6 years 9 months ago - 6 years 9 months 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+

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6 years 9 months 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.

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