23 lines
908 B
Markdown
23 lines
908 B
Markdown
# Control Loop
|
|
|
|
|
|
## TX/RX
|
|
The control loop starts with the TX/RX handled by Ethercrab. It sends the EtherCat frome to all devices and waits for recieval.
|
|
Although EtherCAT supports multiple in-flight frames we just use one at a time.
|
|
|
|
## Read Inputs
|
|
We loop over every device and check if the inputs for this device match the expected length (byte length).
|
|
|
|
If the size matches we give the inputs to the `TxPdo` object of the device which will decode and store the inputs.
|
|
|
|
## Act
|
|
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.
|
|
|
|
## Write Outputs
|
|
We loop over every device and check if the outputs for this device match the expected length (byte length).
|
|