This commit adds a realtime timer to remove the cycle_count that measure update
loops and fixes a construction bug where torque and duration were flipped.
In the case that the cycle time overflowed the intended frequency the
cycle count is no longer meaningful and gives the user little understanding of
the time past. A timer is agnostic to a misbehaving update cycle.
This commit adds a realtime timer to remove the cycle_count that measure update loops and fixes a construction bug where torque and duration were flipped. In the case that the cycle time overflowed the intended frequency the cycle count is no longer meaningful and gives the user little understanding of the time past. A timer is agnostic to a misbehaving update cycle.