Hey, So i was plotting live data on the osl pf just the ankle swing recording the following, Command degree, measured degrees, motor current and sample count, i am kind of worried about the steps as they are showing up, even when i try to send data to something else like simulink through an ethernet cable i experience constant jitters in the data, is this due to the pi being not real time and os task scheduling lag or something else. or is it like a combined delay of the UDP packets being sent by the pi and recieved by simulink and being unpacked.
Hi,
Are you logging anything during your test ? If yes what is your buffer size and which entry do you log ?
Do you have a MWE showing those issues ?
I am Logging multiple readings during my test, I am not using a buffer size as I was hoping for a ‘real - time’ system since what I am working on requires the timing constraints to be met strictly below 100 ms on the overall system.
I have an ethernet setup sending the live data in big eddian to a live simulink logging where I am collecting data and displaying it (first image)
the python script running on the OSL is separate; its left to let the ankle only swing freely on the setup as the Matlab just logs it in real time. I noticed samples were jumping and missing in most cases so i was asking about that.
Your timing constraints is for what ? If it is for your inner loop, it is plenty enough.
First I would do a check with only your hardware. Replace your communication with simulink/matlab with a python script running on the OSL just to save the data. With this setup look if you still see some data missing.