I'm working on adding some new functionality to the low level control system
software I wrote for my Gumstix/Robostix system. Right now I ask my IMU for
some data over one of the Gumstix UART, read a bunch of ADC values from the
Robostix via I2C_IO_GetADC, and do a little bit of floating point crunching.
The control loop is very tight when I do this, about 10ms.
I perform my control actions through the PWM outputs on the Robostix through
a command like:
I2C_IO_WriteReg16( i2cDev, ch1,(int)elevator );
For each each time I write a value it takes an agonizingly long 10ms, so by
the time I've written all my control actions my control loop takes 40ms. I'd
really like to get this down to 20ms so that I'm at least updating as fast
as the servo takes its updates. What confuses me is that the ADC reading
from the Robostix takes a comparatively negligible amount of time. Is there
anything I can do to speed up my register writes to the Robostix?
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