Refresh frequency

[jjehl]

Better to keep at least 25 Hz to avoit jerky motion.

[show0k]

If I understand the code, the longer is the timeout, the slower is the frequency, no ? So you increased the frequency by 4 instead of lowing it, I think (without any tests).
Ping @damiencaselli.

[ghost]

I think the error is in the commit message "set refresh at 25Hz", where the wanted unit was milliseconds. If not, it indeed does the opposite of what it is supposed to do.

[jjehl]

Sorry, the right explanation is : increase the frequency from 10 Hz to 40 Hz.
At 10 Hz, motions are jerky.

[show0k]

I don't understand. If you increase refresh frequency, it will increase the load on the HTTP server and make the Raspberry Pi less CPU for motor control. So how increasing the frequency can make movements less jerky ?

[jjehl]

This is a balance between the load of the server and the speed of the movement.
Low refresh frequency and high speed movement give jerky motion.

[show0k]

I really don't understand. Poppy monitor is used to visualize robot states, and start/stop primitives. In which way does it suppose to influence the frequency of movements started in the monitor ?

[jjehl]

you can also move the motors with the mouse and this is for this feature that the refresh frequency is critical.