7 Debugging
7.4 Debugging by User Variables of YRC1000micro
7-8
HW1484528
HW1484528
7.4 Debugging by User Variables of YRC1000micro
Debugging with printf() or puts() for the tasks with high priority (the tasks
started with the task priority: MP_PRI_IO_CLK_TAKE,
MP_PRI_IP_CLK_TAKE, or MP_TIME_CRITICAL, or the task
“mpUsrRoot”) may cause insufficient processing time for the robot
operation control task. Thus, use the user variables of the YRC1000micro
(B variable, I variable, D variable, and R variable) to debug.
In this case, use the API for writing to the variable “mpPutVarData()” in the
MotoPlus application to describe debug information, then debug while
checking the data in the VARIABLE window on the programming pendant.
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