Hi Peter! I am trying to integrate IOIO in the ROSJava framework. Can you please give me some pointers on how to go about it?
Thanks. :) On Monday, February 18, 2013 6:36:07 AM UTC+1, Ytai wrote: > > What people typically do is implement all the low-latency stuff on the MCU > and expose a higher-level, less latency-sensitive protocol over USB. > > > On Thu, Feb 14, 2013 at 8:56 AM, Dan Christian <[email protected] > <javascript:>> wrote: > >> @Peter, >> Yes, "grok" means to understand fully. I think it came from an old >> Heinlein novel. >> >> There is a fundamental timebase in full speed (12mbps) USB of 1ms. If >> you need to do round trip operations (e.g. set a pin then read a pin), >> you have to expect 2+ms. Many of the IOIO primitives are designed to >> stream data, so the one way latency should be around 1ms. >> >> High speed (480mbps) USB can theoretically cut this by a factor of 8. >> I don't know of any microcontrollers that implement high speed. It's >> more the realm of FPGAs, but they don't have the nice IO structures of >> the PIC. >> >> The fastest would be a PCI/PCIe card, but that's a very different >> thing than the original goal of the IOIO. You can buy such a thing >> from various sources, but the cost is hundreds of dollars. >> >> -Dan >> >> On Wed, Feb 13, 2013 at 11:23 PM, Peter <[email protected] >> <javascript:>> wrote: >> > >> > I'm still feeling my way around this problem. >> > >> > From what I understand I agree that there will still be the comms pipe >> to >> > the PIC which governs performance so any abstraction of additional pins >> > would add to the overhead. >> > >> > I'm not looking at using android or windows, but ubuntu because the >> > libraries I would like to use the ioio with are in roscpp and rospy >> which >> > are the corelibries and run in linux. >> > >> > The particular libraries are run as plugins to an executable >> representing a >> > rosnode that is the hardware. These plugins are passed an instance of >> the >> > hardware, an object describing and exposing the hardware functionality >> of >> > the robot which is based on the etherCAT control hardware. What I was >> hoping >> > to do was to create a cpp object that exposes the ioio functionality in >> the >> > same way. >> > >> > If there's no benefit in performance in breaking things down the way I >> > initially proposed, then I can still use an instance of the ioio that >> has >> > the same functionality that is exposed in the IOIOlib. Is this interface >> > protocol available somewhere? >> > >> > cheers >> > >> > >> > Peter >> > >> > -- >> > You received this message because you are subscribed to the Google >> Groups >> > "ioio-users" group. >> > To unsubscribe from this group and stop receiving emails from it, send >> an >> > email to [email protected] <javascript:>. >> > To post to this group, send email to [email protected] >> <javascript:>. >> > Visit this group at http://groups.google.com/group/ioio-users?hl=en. >> > For more options, visit https://groups.google.com/groups/opt_out. >> > >> > >> >> -- >> You received this message because you are subscribed to the Google Groups >> "ioio-users" group. >> To unsubscribe from this group and stop receiving emails from it, send an >> email to [email protected] <javascript:>. >> To post to this group, send email to [email protected] >> <javascript:>. >> Visit this group at http://groups.google.com/group/ioio-users?hl=en. >> For more options, visit https://groups.google.com/groups/opt_out. >> >> >> > -- You received this message because you are subscribed to the Google Groups "ioio-users" group. To unsubscribe from this group and stop receiving emails from it, send an email to [email protected]. To post to this group, send email to [email protected]. Visit this group at http://groups.google.com/group/ioio-users. For more options, visit https://groups.google.com/d/optout.
