[Dprglist] First BBR implementation and some questions

[Doug Paradis]

Kumar,
    I always pass through the loop. So a 1 sec backwards maneuver would use a loop counter with a disengage value of 50 for a loop time of 20 mS. I am not using a multitasking framework, which opens up other possibilities. 

Regards 
Doug P.

Sent from my iPhone

> On Oct 31, 2021, at 4:54 PM, Thalanayar Muthukumar via DPRGlist <dprglist at lists.dprg.org> wrote:
> 
> 
> https://youtu.be/fuFamNWyXc4 (~15 sec)
> 
> 20 times per sec
> - default behavior - go straight forward, green headlights
> - higher priority behavior - light sensed, turn left, red headlights
> 
> My understanding of BBR is that there should be no state maintained.
> 
> Question - If we trigger a ballistic behavior (e.g. go straight backward for one sec), is it ok to not return to the loop every 50 msec?
> 
> Or is it preferable to maintain state and count 20 times for getting duration of 1 sec?
> 
> Regards.
> - Kumar
> 
> 
> 
> Sent from my iPhone
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