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airo-ugent / airo-tulip

Python driver for the KELO Robile platform
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Should ethercat loop be more explicit? #6

Closed m-decoster closed 4 months ago

m-decoster commented 4 months ago

Right now, the test script has time.sleep calls to run the EtherCATMaster loop at 20Hz. Can we make this more explicit and perhaps even hardcoded, with a EtherCATMaster.run() method that does this for us?

bitscuity commented 4 months ago

Sure, that's certainly possible! But I'm wondering what the use of this is, as you'd generally want to set some target velocity in between calls to RobilePlatform.step() (as is done is the two scripts). With a run() function, the loop will go on indefinitely without there being an ability for the programmer to set new target velocities from the same thread.

m-decoster commented 4 months ago

Fair enough. In the C++ code they start up a thread but in our case we won’t, so just a step method like it is now is indeed the sensible choiceOp 5 jul 2024 om 09:00 heeft Thomas Van Acker @.***> het volgende geschreven: Sure, that's certainly possible! But I'm wondering what the use of this is, as you'd generally want to set some target velocity in between calls to RobilePlatform.step() (as is done is the two scripts). With a run() function, the loop will go on indefinitely without there being an ability for the programmer to set new target velocities from the same thread.

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