Real-Time Robotics Framework

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getting_started:tutorials:controlsystem2

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getting_started:tutorials:controlsystem2 [2016/10/24 17:02] – grafgetting_started:tutorials:controlsystem2 [2020/10/15 16:20] – ursgraf
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 This examples does: This examples does:
   * Creates a main task //ss// with an execution period of one second. The task itself is defined of type ''Lambda'' with a run method given by a lambda function. It prints out two messages with a short delay in between.   * Creates a main task //ss// with an execution period of one second. The task itself is defined of type ''Lambda'' with a run method given by a lambda function. It prints out two messages with a short delay in between.
-  * Creates a time domain //t1// with a period of one second. Its run method prints out some messages with a short delay in between. +  * Creates a periodic //task1// with a period of one second. Its run method prints out some messages with a short delay in between. //task1// runs concurrently to //ss//. 
-  * Creates a time domain //t2// with a period of two seconds. Its run method prints out some messages with a short delay in between. //t2// runs after //t1// has finished. +  * Creates a periodic //t2// with a period of two seconds. Its run method prints out some messages with a short delay in between. //t2// runs after //t1// has finished. 
-  * Creates a time domain //t4// with a period of four seconds. Its run method prints out some messages with a short delay in between. //t4// runs after //t2// has finished. +  * Creates a periodic //t4// with a period of four seconds. Its run method prints out some messages with a short delay in between. //t4// runs after //t2// has finished. 
-  * Creates a time domain //t3// with a period of five seconds. Its run method prints out some messages with a short delay in between. //t3// runs after //t1// has finished but concurrently to //t2//. +  * Creates a periodic //t3// with a period of five seconds. Its run method prints out some messages with a short delay in between. //t3// runs after //t1// has finished but concurrently to //t2//. 
-  * Creates a time domain //t5// with a period of three seconds. Its run method prints out some messages with a short delay in between. //t5// runs concurrently to //t1//.+  * Creates a periodic //t5// with a period of three seconds. Its run method prints out some messages with a short delay in between. //t5// runs concurrently to //t1//.
  
 All of the harmonic tasks have a periodic counter which measure its periods and run times. Once every 10th run the results are logged. The results are printed in milliseconds. All of the harmonic tasks have a periodic counter which measure its periods and run times. Once every 10th run the results are logged. The results are printed in milliseconds.