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--- tools:logger_cs:start [2017/12/21 13:52] – graf
+++ tools:logger_cs:start [2018/05/31 10:32] (current) – graf
@@ Line 24: / Line 24: @@
 Now, the logging will be done after the control system task has finished running.
-====== Log in the Same Task ======
+===== Log in the Task of the Time Domain =====
 It is also possible to add the logging to the monitors of one of the currently running task of the control system. This could be done as follows:
 <code cpp>
-  TimeDomain td("time domain CS", 0.001, true);  // time domain for the control system running with 1kHz
+  double period = 0.001;
-  Periodic perCS("periodic CS", 0.001, td);      // periodic task running the time domain
+  eeros:: control::TimeDomain td("time domain CS", period, true);  // time domain for the control system running with 1kHz
-  eeros::task::Periodic perLog("periodic log", 1, l1);
+  eeros::task::Periodic perCS("periodic CS", period, td);      // periodic task running the time domain
-  perLog.monitors.push_back([&](PeriodicCounter &pc, Logger &log){
+  perCS.monitors.push_back([&](PeriodicCounter &pc, Logger &log){
+    static int ticks = 0;
+    if ((++ticks * period) < 1) return;
+    ticks = 0;
     log.info() << controlSystem.myBlock.getOut().getSignal();
   });
   // and further down the code
-  executor.add(perLog);
+  executor.add(perCS);
 </code>
+Please note that you usually want the logging to happen at a much smaller frequency than the time domain. For this, you have to reduce this frequency as shown in the example above.