[Dprglist] First BBR implementation and some questions

[Carl Ott]

I really enjoy the phone toss and catch - (regrasping and catching ~ 2:39)
to think that it caught the phone by closing on the edges / without the
phone rotating - can you imagine trying to do that?

On Sun, Oct 31, 2021 at 7:44 PM Thalanayar Muthukumar via DPRGlist <
dprglist at lists.dprg.org> wrote:

> Wow - 1 ms.
> And this work was done in 2009 …
> hizook.com web site is no longer available. Wonder how this technology
> may have evolved over the years.
>
> Regards.
> - Kumar
>
> Sent from my iPhone
>
> On Oct 31, 2021, at 5:52 PM, Karim Virani <pondersome64 at gmail.com> wrote:
>
> 
> Many of y'all will remember this super-speed finger bot - 1ms loop time or
> shorter:
> https://www.youtube.com/watch?v=-KxjVlaLBmk&ab_channel=Hizook
>
>
>
> On Sun, Oct 31, 2021 at 5:42 PM Karim Virani <pondersome64 at gmail.com>
> wrote:
>
>> The loop time is entirely up to you. The question is, how quickly does
>> your robot need to react? That depends a lot on physics - on scale. It also
>> depends on the needs of the most timing-sensitive (non-ISR) sensors you are
>> managing, and how you service them.
>>
>> We don't even have a set loop time since we are using Android on most of
>> our robots. Our loop time varies a lot, but is generally under 50ms. We
>> normalize all our timing to seconds and our math looks like normal physics
>> calculations vs. something short-cutted to a fixed timing loop. Granted,
>> this is not a common approach in microcontroller-driven hobbyist robotics.
>> Deemed wasteful of processing cycles by many.
>>
>> On Sun, Oct 31, 2021 at 5:31 PM Thalanayar Muthukumar <tnkumar at gmail.com>
>> wrote:
>>
>>> 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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