Question about the buffer for commands sent to the RMP

[ChrisC]

Sometimes when sending commands using a script (based off the Python demo OCU), if the program terminates before all the commands are executed, I find the RMP still executes some of the commands before terminating. Is this normal?

[phussey]

When your program terminates the last thing you should be doing is sending zero commands or transition to standby.

When you terminate the program mid command, the platform will take 0.5 seconds to deem the connection lost. At which point the platform will slew the commands to zero at the deceleration rate stored in NVM configuration.

An example:

MAX_VELOCITY_MPS = 8m/s
MAX_DECELERATION_MPS2 = 1m/s^2

Normalized velocity command at termination = 1.0 (8 m/s)

Platform velocity will be 8mps for 0.5 sec and then slew to zero at 1 m/s^2 over 8 seconds. So it would take a total of 8.5 seconds after the user program termination to bring the vehicle to a stop and would travel a total of 36 meters.

The burden is on the user application to appropriately set the parameters and termination sequence.







if you are issuing a high velocity command and the deceleration rate is low