Reduce context switches by prioritizing loops over output
Change-Id: Idaa3e5bb0bc37ada967ca5b3d92d5c199cd3e77e
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/y2024/control_loops/superstructure/superstructure.cc b/y2024/control_loops/superstructure/superstructure.cc
index b30d530..d3e98ab 100644
--- a/y2024/control_loops/superstructure/superstructure.cc
+++ b/y2024/control_loops/superstructure/superstructure.cc
@@ -52,7 +52,7 @@
robot_constants_->robot()->extend_constants()->zeroing_constants()),
extend_debouncer_(std::chrono::milliseconds(30),
std::chrono::milliseconds(8)) {
- event_loop->SetRuntimeRealtimePriority(30);
+ event_loop->SetRuntimeRealtimePriority(37);
}
bool PositionNear(double position, double goal, double threshold) {