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job_10msがずれる問題について #9

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NONAKA-Yuuki opened this issue Feb 16, 2024 · 1 comment

NONAKA-Yuuki commented Feb 16, 2024

cugo_ros_motorcontroller/cugo_ros_motorcontroller/cugo_ros_motorcontroller.ino

Line 787 in 4165f27

    
           if (current_time - prev_time_10ms > 10000) // TODO 10秒で1msくらいズレる

current_time - prev_time_10ms > 10000だと、10001usでJobが動くのでJobの度に1us誤差が出てしまい、10秒後に1msずれる気がしました。

current_time - prev_time_10ms >= 10000にしたら改善されないでしょうか？

Author

NONAKA-Yuuki commented Feb 16, 2024

job_100msは1秒で約1msずれるとのことなので、別要因かもしれませんが。

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