For our code, we are sending out two EtherCAT frames per cycle. The
first one is to collect data; I clearly need to run
ecrt_master_receive() and ecrt_domain_process() some time after
sending the frame here. However, once the controllers have run, we
then send out a second frame with our updated torques. We will not
read any of the data that our slaves send back.
In other words, our main loop looks something like this:
while (!done) {
// Receive new sensor data from our slaves
ecrt_domain_queue(domain);
ecrt_master_send(master);
usleep(20);
ecrt_master_receive(master);
runControllers();
// Send the updated torque values to our slaves
ecrt_domain_queue(domain);
ecrt_master_send(master);
// Are the following 3 lines needed?
usleep(20);
ecrt_master_receive(master);
ecrt_domain_process(domain);
wait_for_next_cycle();
}
Do we need to call ecrt_master_receive() and/or ecrt_domain_process()
here, or can we just call it when we actually need to process received
values?
Thank you,
Johnathan Van Why
Dynamic Robotics Laboratory
Oregon State University
_______________________________________________
etherlab-users mailing list
[email protected]
http://lists.etherlab.org/mailman/listinfo/etherlab-users
