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Without a better understanding of your message structure and processor task assignments, it would be really difficult to provide a useful answer. As discussed here - http://www.societyofrobots.com/robotforum/index.php?topic=4387.0I have a strong bias against using any interrupts, mostly based on many years of experience with real-time programming and debugging of distributed minicomputer and microprocessor systems, so I will always look for approaches that avoid interrupts. Maybe this isn't practical for your application, but there's not enough information to make that assessment.
I am building an advanced robot which has 9 PIC's, 5 are glue logic (bit controlled), but 4 larger PIC's need to be high speed serial linked. There is a master PIC, a sensor PIC, a drive PIC and an arms/claw controller PIC
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