RTAI scheduling works

Today I made it happen - the tight 1ms control loop is working. I have actually not the slightest idea why RTAI kept bugging me for so long. The testsuite worked flawlessly, and so I expected no troubles. Yet it crashed and kernel-dumped and generally bitched around. No offense to the really great folks that make RTAI! Paolo Mantegazza was helpful, and I bet it's been me all the time.

Once I started creating a test-application step-by-step, I finally made it to the point where I had my control loop established.

Now the work on the PID-controlling of the motors begins. I decided to go with a python-prototype first, as I don't see through my old code anymore. Nothing unheard of in the wonderful land of C.

But always marvelling is the ctypes-python-to-C-bridge. Together with GCCXML, it's easy as cake to glue together the various bits & pieces of my controlling functions to yield a really powerful control application. Or just some unit-tests.