Robocup bug fix of Thunderloop clock #3317
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Description
next_shot
is supposed to be an absolute time at which the next thunderloop iteration is supposed to run. Thus to maintain a constant interval inbetween iterations it should be incremented by a constant amount. Before this PR thunderloop would run at shorter intervals if it took longer to run the current iteration.The fix done in 5828d4e was different, changing the entire Thunderloop clock to use a relative sleep. Feel free to comment if you believe that was a better fix than this.
Testing Done
No on robot testing done yet, but Thunderloop builds fine.
Resolved Issues
Length Justification and Key Files to Review
It is not long.
Review Checklist
It is the reviewers responsibility to also make sure every item here has been covered
.h
file) should have a javadoc style comment at the start of them. For examples, see the functions defined inthunderbots/software/geom
. Similarly, all classes should have an associated Javadoc comment explaining the purpose of the class.TODO
(or similar) statements should either be completed or associated with a github issueAgain compare with 5828d4e as that has an alternative fix with an equivalent effect.