Subject:
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Re: Subtasks quitting before completing
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Newsgroups:
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lugnet.robotics
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Date:
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Mon, 9 Nov 1998 21:15:54 GMT
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Original-From:
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Kekoa Proudfoot <kekoa@Graphics.Stanford.EDU>
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Viewed:
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2684 times
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> I saw some posts during the last three days about subtasks quitting before
> completing. I never saw a solution, so I will re-ask the question.
>
> If my robot triggers a touch sensor and before it completes all of the
> commands in that group of commands that same touch sensor is hit again, the
> RCX gets confused and starts doing some unplanned and unexpected movements,
> never regaining its original program state. How can I program to accomodate
> this event? Also what happens if the RCX sends conflicting signals to the
> motors, how do you know which event or subtask has precedence?
The confusion is because only instantiation of each stack can be active at
a time. If you start a stack that is already running, that stack stops,
then restarts.
The rule for conflicting signals is that the last one set has precedence.
So if one stack says "motors, forward!" then a second stack says "motors,
backward!" then the motors will end up going backward.
I found that, if you have multiple stacks modifying the state of one or
more motors, you can end up with unexpected states. In my case, making
each green motor block modify all of the motors made it so that the motors
were always in a consistent state. Other solutions probably work too.
-Kekoa
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Message is in Reply To:
 | | Subtasks quitting before completing
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| I saw some posts during the last three days about subtasks quitting before completing. I never saw a solution, so I will re-ask the question. If my robot triggers a touch sensor and before it completes all of the commands in that group of commands (...) (26 years ago, 9-Nov-98, to lugnet.robotics)
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