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<p>Well, Karim, now that you mention it...</p>
<p><br>
</p>
<div class="moz-cite-prefix">On 10/31/21 5:26 PM, Karim Virani via
DPRGlist wrote:<br>
</div>
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cite="mid:CAKtnkizpWzd31CVtCfbL23yYF0ORK17G_5MO4T=dzKfO42wXYQ@mail.gmail.com">
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<div dir="ltr">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.<br>
<br>
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. <br>
</div>
</blockquote>
<p>I believe this is a misunderstanding of what ballistic behaviors
are in the context of subsumption. For some reason the idea has
taken root that what makes a behavior ballistic is that it for
some reason cannot be interrupted. That is a red herring.
What make a behavior a ballistic behavior <b><i><u>in the context
of subsumption</u></i></b> is that it continues to execute
after the signal that triggered it has ceased. <br>
</p>
<p>That's all. <tt><br>
</tt></p>
<p>I don't understand why such a simple concept has turned out to be
so hard to communicate. I consider this a major failing on my
part.<br>
</p>
<p>cheers!</p>
<p>David</p>
<p><br>
</p>
<p><br>
</p>
<blockquote type="cite"
cite="mid:CAKtnkizpWzd31CVtCfbL23yYF0ORK17G_5MO4T=dzKfO42wXYQ@mail.gmail.com"><br>
<div class="gmail_quote">
<div dir="ltr" class="gmail_attr">On Sun, Oct 31, 2021 at 5:08
PM Doug Paradis via DPRGlist <<a
href="mailto:dprglist@lists.dprg.org" moz-do-not-send="true">dprglist@lists.dprg.org</a>>
wrote:<br>
</div>
<blockquote class="gmail_quote" style="margin:0px 0px 0px
0.8ex;border-left:1px solid rgb(204,204,204);padding-left:1ex">
<div dir="auto">Kumar,
<div> 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. </div>
<div><br>
</div>
<div>Regards </div>
<div>Doug P.<br>
<br>
<div dir="ltr">Sent from my iPhone</div>
<div dir="ltr"><br>
<blockquote type="cite">On Oct 31, 2021, at 4:54 PM,
Thalanayar Muthukumar via DPRGlist <<a
href="mailto:dprglist@lists.dprg.org"
target="_blank" moz-do-not-send="true">dprglist@lists.dprg.org</a>>
wrote:<br>
<br>
</blockquote>
</div>
<blockquote type="cite">
<div dir="ltr">
<div dir="ltr">
<div dir="ltr"><a
href="https://secure-web.cisco.com/12R-xW2iM6X1mtZ6lGWZ2cU_V7WhrcVFmrYppQ5_RFJAtuHcumxuYD4t8YW_aGm011_ipOLIKUMPmlNlXLKe0mDeZ5NILZd__YuRF_kKIzyxN8EiJErAuYE-OcebwmywmyJ7SoBG9yB3Oyna9Z9RUY7kwZdTuI-sO3UWkVWgVNhYiwT1_tphO9qAaoFdwYrgHVEynVcBz9QhIC_xYutA9B-8OhKAWWEGvh-8EqTFHmW8H5ZsvYDMLEZNwPag9e3p4bO7y-E8y4CehSNJJRVtWHgi8hUB2z2KYLDpQOUR9fxk/https%3A%2F%2Fyoutu.be%2FfuFamNWyXc4"
target="_blank" moz-do-not-send="true">https://youtu.be/fuFamNWyXc4</a> (~15
sec)</div>
<div dir="ltr"><br>
</div>
<div dir="ltr">20 times per sec</div>
<div dir="ltr">- default behavior - go straight
forward, green headlights</div>
<div dir="ltr">- higher priority behavior - light
sensed, turn left, red headlights</div>
<div dir="ltr"><br>
</div>
<div dir="ltr">My understanding of BBR is that there
should be no state maintained.</div>
<div dir="ltr"><br>
</div>
<div dir="ltr">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?</div>
<div dir="ltr"><br>
</div>
<div dir="ltr">Or is it preferable to maintain state
and count 20 times for getting duration of 1 sec?</div>
<div dir="ltr"><br>
</div>
<div dir="ltr">Regards.</div>
<div dir="ltr">- Kumar<br>
<br>
</div>
<br>
<br>
<div dir="ltr">Sent from my iPhone</div>
</div>
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