hoempire / newio Goto Github PK

Problem description

I used thread to separate reading imu from spinOnce, but i met the compilation that

invalid use of non-static member function

Solution

write the code like this to initiate thread and it will work

std::thread t(&IOManager3::readIMU,this);//this line is in the IOManager3.cpp, readIMU is a member function of IOManager3

Problem description

• The frequency of imu part in host computer and slave computer is not the same.
• One cycle of host reading imu is set 10ms
• One cycle of slave computer is >10ms (This can explain why when the frequency of host is set higher than 10Hz,the ticks overflow problem will not exist)

Solution

• Still need to work with circuit group to solve the problem

Describtion

• After replace oldIO with newIO, the initiation of Servo is too fast

Solution

• It's the problem of Setting in Servo.cpp
• CHANGE THE FOLLOWING TO 100 (BEFORE IS 10)
  

Perfomance after solving the problem

• The power reopen initiation works well

Describtion

• Use the old original way of Servo read read4ByteTxRx it takes 70ms to read 12 Servos and with Packet loss problem
• Use the syncread it takes 18ms to read 12 Servos and also with Packet loss problem

Solution

• It‘s a problem of some kinds of authority of Ubuntu16.04
• The following command before running the programm can solve the problem

echo 1 | sudo tee /sys/bus/usb-serial/devices/ttyUSB0/latency_timer

Perfomance after solving the problem

• Now we can read the 12 Servo in 3ms without packet loss

Need to cooperate with EG.