I have been wondering- can emcmot be separated from the HAl and emctask
and become a true dedicated realtime stage to control the joints?
The shared memory FIFOs could be replaced with like an ethernet link to
the hardware RAM. You'd probably load a DMA buffer and just let it
flow, there's some minor latency but there's not a realtime requirement.
There are cheap high freq MCUs with single-cycle hardware double
multiply/add and gobs of memory. It would have to be coded in non-OOP C
and I greatly prefer hardware interrupt-driven strategies over RTOS.
Danny
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