{"action":"created","issue":{"url":"https://api.github.com/repos/robotology/icub-firmware/issues/50","labels_url":"https://api.github.com/repos/robotology/icub-firmware/issues/50/labels{/name}","comments_url":"https://api.github.com/repos/robotology/icub-firmware/issues/50/comments","events_url":"https://api.github.com/repos/robotology/icub-firmware/issues/50/events","html_url":"https://github.com/robotology/icub-firmware/issues/50","id":120755809,"number":50,"title":"timing in control loop should be tunable","user":{"login":"marcoaccame","id":7148284,"avatar_url":"https://avatars.githubusercontent.com/u/7148284?v=3","gravatar_id":"","url":"https://api.github.com/users/marcoaccame","html_url":"https://github.com/marcoaccame","followers_url":"https://api.github.com/users/marcoaccame/followers","following_url":"https://api.github.com/users/marcoaccame/following{/other_user}","gists_url":"https://api.github.com/users/marcoaccame/gists{/gist_id}","starred_url":"https://api.github.com/users/marcoaccame/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/marcoaccame/subscriptions","organizations_url":"https://api.github.com/users/marcoaccame/orgs","repos_url":"https://api.github.com/users/marcoaccame/repos","events_url":"https://api.github.com/users/marcoaccame/events{/privacy}","received_events_url":"https://api.github.com/users/marcoaccame/received_events","type":"User","site_admin":false},"labels":[],"state":"closed","locked":false,"assignee":{"login":"marcoaccame","id":7148284,"avatar_url":"https://avatars.githubusercontent.com/u/7148284?v=3","gravatar_id":"","url":"https://api.github.com/users/marcoaccame","html_url":"https://github.com/marcoaccame","followers_url":"https://api.github.com/users/marcoaccame/followers","following_url":"https://api.github.com/users/marcoaccame/following{/other_user}","gists_url":"https://api.github.com/users/marcoaccame/gists{/gist_id}","starred_url":"https://api.github.com/users/marcoaccame/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/marcoaccame/subscriptions","organizations_url":"https://api.github.com/users/marcoaccame/orgs","repos_url":"https://api.github.com/users/marcoaccame/repos","events_url":"https://api.github.com/users/marcoaccame/events{/privacy}","received_events_url":"https://api.github.com/users/marcoaccame/received_events","type":"User","site_admin":false},"milestone":null,"comments":2,"created_at":"2015-12-07T11:41:49Z","updated_at":"2015-12-14T14:19:56Z","closed_at":"2015-12-14T14:17:35Z","body":"In https://github.com/robotology/icub-support/issues/130#issuecomment-161992374 it was reported a:\r\n\r\n`Warning on \"timing overflow on some phases of the control Loop on EMS\" (arms)`.\r\n\r\nThe reason of that may be due to the fact that the boards in forearm (EB2/EB4) have 12 joints to manage and in some control situations they must send many CAN frames all together.\r\n\r\nThe control loop sends the CAN frames in its TX phase  and waits until all frames are transmitted.\r\n\r\nFor all boards, the time allocated for this TX phase is 300 usec. The timing for all the phases are: RX-DO-TX = 400-300-300.\r\n\r\nHowever some boards such as the EB2/EB4 do not need time in the DO phase.\r\n\r\nIn order to reduce the execution overflow in TX phase it would be useful to allocate timings in a dedicated way.\r\n\r\n"},"comment":{"url":"https://api.github.com/repos/robotology/icub-firmware/issues/comments/164449257","html_url":"https://github.com/robotology/icub-firmware/issues/50#issuecomment-164449257","issue_url":"https://api.github.com/repos/robotology/icub-firmware/issues/50","id":164449257,"user":{"login":"DanielePucci","id":5045846,"avatar_url":"https://avatars.githubusercontent.com/u/5045846?v=3","gravatar_id":"","url":"https://api.github.com/users/DanielePucci","html_url":"https://github.com/DanielePucci","followers_url":"https://api.github.com/users/DanielePucci/followers","following_url":"https://api.github.com/users/DanielePucci/following{/other_user}","gists_url":"https://api.github.com/users/DanielePucci/gists{/gist_id}","starred_url":"https://api.github.com/users/DanielePucci/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/DanielePucci/subscriptions","organizations_url":"https://api.github.com/users/DanielePucci/orgs","repos_url":"https://api.github.com/users/DanielePucci/repos","events_url":"https://api.github.com/users/DanielePucci/events{/privacy}","received_events_url":"https://api.github.com/users/DanielePucci/received_events","type":"User","site_admin":false},"created_at":"2015-12-14T14:19:56Z","updated_at":"2015-12-14T14:19:56Z","body":":+1: "}}