Kirk Wallace wrote: >On Thu, 2009-10-01 at 00:46 -0400, John Kasunich wrote: >... snip > > >>The software encoder counter has TWO functions. >> >>update-counters should always be run as fast as possible - that means >>the base thread. update-counters is the function that actually looks >>at the encoder inputs and counts the edges. >> >> >... snip > > >>The other function is capture-position. capture-position reads the >>accumulated raw count, and uses that information to update position, >>position-interpolated, velocity, and other related outputs. It should >>run only as often as the outputs are needed - this means the servo thread. >> >> >... snip > >Dooh, Thanks for setting me straight. But it seems capture-position does >have some room to run slower than the servo thread, if there is a reason >to do so? Though missing an edge with update-counters would be very bad, >especially for an axis. > > I don't see any reason to run capture-position slower than the servo thread. All that does is withhold updated information from the process that needs it. If you want some filtering (which you shouldn't, but who knows), you should use one of the HAL components that does filtering (there are several, though the only one I can remember at the moment is biquad).
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