<html><head><meta http-equiv="content-type" content="text/html; charset=utf-8"></head><body 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 <dprglist@lists.dprg.org> wrote:<br><br></blockquote></div><blockquote type="cite"><div dir="ltr"><meta http-equiv="content-type" content="text/html; charset=utf-8"><div dir="ltr"><div dir="ltr"><a href="https://youtu.be/fuFamNWyXc4">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><span>_______________________________________________</span><br><span>DPRGlist mailing list</span><br><span>DPRGlist@lists.dprg.org</span><br><span>http://lists.dprg.org/listinfo.cgi/dprglist-dprg.org</span><br></div></blockquote></div></body></html>