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 21:19:53 GMT
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Original-From:
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Nancy Gold <nancyg@sgi%IHateSpam%.com>
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Viewed:
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2940 times
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Lageson, Tom wrote:
> 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?
This weekend I built a 4x4 rover with two front bumper sensors. I was faced
with the problem
of both sensors triggering at the same time. My fix was to set the counter to 1
and add a
stack controller to check the counter before turning the rover.
This worked except that I had a deadlock condition. I tracked it down to a
sensor triggering
for too short a period of time and the sensor commands not finishing. The fix
was this:
Release:
Add Counter
Check Counter = 1
On True: Reset Counter, Perform Manover
On False: No Action
Press:
Reset Counter (vital to avoid the deadlock)
The worst thing that can happen now is a right turn command overriding a left
and vis versa.
Not a problem.
After several hours of testing there are no funny states and the rover never
hangs.
--- Nancy
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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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