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  • Is there a reason you need to update it 400 times a second? All of the code takes time. It takes ~0.2 ms just to send the 8bytes at 250k, then you have to process the data. I would suspect that all that is taking longer then 2.5 ms and so by the time you read again, you have more then 8 bytes in the buffer, and eventually it overflows. I would try decreasing from 25ms to 24 and re-test, then reducing again. you may be able to find the lower limit of what will work reliably. This is assuming there is a need for it to update faster then 40 times a second, if not then just stay at 25ms. Commented Jun 3, 2019 at 16:45
  • @ChadG Actually i wanna apply control theory about multirate sampling time, and i just realize i made a mistake.. i didnt need to make it 2.5ms now. And thank you for explaining why my robot couldn't respond.. could u put ur answer at answer section, because u explain why my robot not responding. Thx Commented Jun 4, 2019 at 3:36