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FRC1076 / RobotKitLib

Robotpy-WPILIB equivalent for raspberry pi robot kit
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robot code is slipping #40

Closed MrRSquared closed 3 years ago

MrRSquared commented 3 years ago

This new run.py is excellent. Our car is running well. However, there is an error in the console on the pi. It seems whenever we run a drivetrain object (in autonomousPeriodic or teleopPeriodic), we get slipping in the timing. WARNING:root:Auton has slipped by 64.0 miliseconds! Interestingly, this does not seem to happen when we control the motor directly (through the speedController interface) using code .set(.5) or a joystick. It does happen when we control the Leds using the Led class that FreeNove wrote (but that class has a lot more to it than the drivetrain class you all wrote).

EmilyRobotics commented 3 years ago

Does the slipping only happen when you have your light class running? Without it on my end the robot code doesnt seem to be slipping at all.

EmilyRobotics commented 3 years ago

Having had a look at your light code, there are a lot of looping code, way to much to be directly in teleop periodic. It would probably be best to move the lights code to a separate thread

MrRSquared commented 3 years ago

Hello, Yes. This is odd. I just tried it again with the main repo in this git as is (no changes to robot.py). I have both auto and tele slipping. I wonder what may be the cause. I will play with some debugging and report back if I uncover anything.

As for the light code, thank you. I agree. Actually, the code up there is old. Now, the only loop in the light code that is running is their rcolorWipe() method, which I just realized does implement a sleep function, so naturally, that will create a slip.). But, I do encounter the error irrespective of the light code.

MrRSquared commented 3 years ago

Yes. When I took the sleep function out of the Led code, that worked without slipping. I could not figure anything else out thus far however.

MrRSquared commented 3 years ago

Thank you for looking into this. I am closing this issue as I think I did not have a requirement installed. after whipping my install disk and beginning with a fresh install (using the desktop version os), there is no slippage at all in teleop or auto.