diff --git a/no_preempt_rt.svg b/no_preempt_rt.svg
new file mode 100644
index 0000000..f64c0aa
--- /dev/null
+++ b/no_preempt_rt.svg
@@ -0,0 +1,1094 @@
+
+
+
diff --git a/test.py b/test.py
new file mode 100644
index 0000000..67c53d6
--- /dev/null
+++ b/test.py
@@ -0,0 +1,34 @@
+import subprocess
+import time
+import matplotlib.pyplot as plt
+
+ITERATIONS = 300
+ITERATION_DURATION = 1 #second(s)
+
+def set_rt_priority():
+ subprocess.run(["schedtool", "-F", "-p", "99"], check=True)
+
+def rt_task():
+ new_time = time.time()
+ jitter_record = []
+ for i in range(ITERATIONS + 1):
+ old_time = new_time
+ new_time = time.time()
+ print("--------------------------------------------------")
+ print(f"system time:\t{new_time} s")
+ print(f"time diff:\t{new_time - old_time} s")
+ jitter = new_time - old_time - ITERATION_DURATION
+ jitter_record.append(jitter)
+ print(f"jitter:\t{jitter} s")
+ time.sleep(new_time + ITERATION_DURATION - time.time())
+ jitter_record.pop(0)
+ plt.plot(jitter_record)
+ plt.title(f"Jitter at {ITERATION_DURATION} s interval")
+ plt.xlabel("Iteration")
+ plt.ylabel("Jitter (in s)")
+ plt.savefig("out.svg")
+
+
+if __name__ == "__main__":
+ set_rt_priority()
+ rt_task()
\ No newline at end of file
diff --git a/with_preempt_rt.svg b/with_preempt_rt.svg
new file mode 100644
index 0000000..879ba14
--- /dev/null
+++ b/with_preempt_rt.svg
@@ -0,0 +1,1108 @@
+
+
+