Hi Friends!

I've finally finished my project developing components in order to control a parallel robot PRS with 3DOF. We implemented some different components (readSensor, Control, ReadForce, etc) and we made a structure of them. Now, we are capable to do a force control with this robot, for example.

Our period is 10ms, but all the process (ReadSensor-Control-ControlAction) is done in 0.5ms (95% CPU iddle).

We are working with different controls, and we would like use different control depending of CPU Load (because, at the moment, we are looking only the computational time (whith the class RTT::Tick)).

Is there any way to know in each iteration de actual CPU Load?

Regards,

Jose