Faster control loop
tylertian123 opened this issue · comments
It might be beneficial to provide classes that allow the trajectory following control loop to run independently of the WPILib Command-based framework and its 50Hz frequency constraint. This also means that if for some reason another command took too long to execute, the control loop would not be slowed down.
Added FollowerRunner interface and two implementations: SimpleFollowerRunner and TimedFollowerRunner. SimpleFollowerRunner has been tested to work well IRL. TimedFollowerRunner has not yet been tested. Unit tests still need to be written.
1e49ff6 has added unit tests for follower runners. This issue now closed.