Changes between Version 11 and Version 12 of Therapy/SystemOverview


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Timestamp:
Jan 22, 2018, 10:43:34 PM (7 months ago)
Author:
al
Comment:

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  • Therapy/SystemOverview

    v11 v12  
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    7070
    71 == Control Loop Analysis ==
    72 
    73 The mainboard is a real-time system and runs its control loop at 500Hz. At a period of 2ms the mainboard is able to do math, send and receive messages in a stable and reliable way. The mainboard responsibility is to regulate the amount of torque, force and velocity outputs constrained by particular safe limits. BurtSharp subscribes to mainboard control loop messages. The BurtSharp-CoAP client runs in a separate thread “RunControlCycle()” and executes a callback to form the next control cycle output every time a message is received from the server “OnReceiveServerUpdate()”. This is more reliable than having the replies be completely asynchronous from the mainboard control loop messages. BurtSharp sends one message (“RobotCommand”) per control cycle.