23 lines
908 B
Markdown
23 lines
908 B
Markdown
# Control Loop
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## TX/RX
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The control loop starts with the TX/RX handled by Ethercrab. It sends the EtherCat frome to all devices and waits for recieval.
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Although EtherCAT supports multiple in-flight frames we just use one at a time.
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## Read Inputs
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We loop over every device and check if the inputs for this device match the expected length (byte length).
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If the size matches we give the inputs to the `TxPdo` object of the device which will decode and store the inputs.
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## Act
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We loop over all known actors and call their `act` function. This is where the control loop logic happens. They can read the input and write the output.
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## Write Outputs
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We loop over every device and check if the outputs for this device match the expected length (byte length).
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If the size matches we give the outputs to the `RxPdo` object of the device which will encode the outputs.
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