[Dprglist] First BBR implementation and some questions

[Thalanayar Muthukumar]

Makes sense Karim, that at all times, the robot is interruptible by higher priority events.

Is 50ms ok? Or is 20ms desirable?

Regards.
- Kumar

Sent from my iPhone

> On Oct 31, 2021, at 5:26 PM, Karim Virani <pondersome64 at gmail.com> wrote:
> 
> 
> I agree with Doug, you should never have blocking code unless you can dedicate a separate thread to it apart from your main loop's thread.
> 
> And not to start up the whole debate again, I personally vote that there is no use for ballistic behaviors. I treat them as an academic construct. There are plenty of uses of objective-oriented and terminating behaviors - including those where the objective is to last for a certain amount of time. But they should still be interruptible and cancellable by higher priority behaviors. 
> 
>> On Sun, Oct 31, 2021 at 5:08 PM Doug Paradis via DPRGlist <dprglist at lists.dprg.org> wrote:
>> 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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