WPILib beta 3: Command Scheduler Overrun Exorbitant Error Logging about 2024beta HOT 5 OPEN

I think you repo might be private

from 2024beta.

I think you repo might be private

Sorry. Fixed now.

from 2024beta.

Are any commands running? It doesn't seem so from the epoch prints, which is quite suspicious.

SwerveModule.periodic is taking significantly a lot of time. I'm not sure it's enough to cause loop overruns, but it's clearly not helping. Can you profile it with the Tracer class? I suspect it's the CAN calls.

from 2024beta.

Why are you setting PID gains every loop in SwerveModule.periodic? They don't appear to ever change.

from 2024beta.

Why are you setting PID gains every loop in SwerveModule.periodic? They don't appear to ever change.

I was using it for tuning. I now that I've optimized the constants for those feedback loops, I commented it out in this commit, and it's no longer consistently overrunning the loop (@Starlight220 was right). However, the code still overruns the CommandScheduler loop at startup, possibly from setting the gains of the CAN SparkMaxes, or setting up shuffleboard. That's tolerable for me, but I'd be interested if there's a way around that (such as setting them faster, or maybe doing it before the CommandScheduler
starts up).

Regardless, we still haven't figured out why it was printing the overrun message too many times. I don't remember previous versions having that behavior.

from 2024beta.