Controller Component and sample freq

Hi,

we are two students of the Politecnico di Milano and we are working on a
thesis about robotics with professor G. Magnani. We have downloaded and
installed Orocos 0.12.0 on PC with linux kernel 2.4.22, Adeos and RTAI 24.1.12.

We are implementing some components for controlling a 6DOF robot.

While implementing our specific OROCOS Controller component we faced the
problem of relating the control system parameters with the the sample frequency
of the OROCOS Kernel. Actually, we think that any controller component needs
to know the sample frequency of the kernel which uses it because, in our
opinion, the parameters of every discrete control alghoritm depend on that
frequency.

We chose to pass the frequency to the Controller component costructor by
means of the getPeriod() method of the ControlKernel instead of writing
the final parameters of the discrete controller in the property file of
the Controller Component. Actually, our Controller property file contains
the parameters of the corresponding continuous control system.

So, a change in the sample frequency of the ControlKernel does not affect
the Property file of the Controller Component.

What do you think of this approach?

Andrea & Stefano