wait or sensor

Programming Support ROBOTC Tech Support
#1

We have a loading ramp where a ball trips a limit switch, but I cant be sure of the timing. I am trying to figure out how to create a wait function (go on regardless) that also would catch the sensor trip if it occurred before a timeout period. Using a sleep command would likely miss the trip of the switch. This would be in autonomous if that matters…

any ideas?

#2

There are a number of ways to do this but most boil down to using a counter in a loop that checks for the condition you want to be true. If the counter reaches some known value then the loop is exited and the program moves on. Here is a simple example.

#pragma config(Sensor, dgtl1,  limitSwitch,    sensorTouch)
//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//

#define TIMEOUT           5000
#define TIMEOUT_DELAY     10

bool
waitForSwitch()
{
    long    currentTime = TIMEOUT;

    // wait for switch press - 5 seconds maximum
    for( currentTime = TIMEOUT; currentTime > 0; currentTime -= TIMEOUT_DELAY)
        {
        if( SensorValue limitSwitch ] == 1 )
            break;

        wait1Msec(TIMEOUT_DELAY);
        }
        
    if( currentTime == 0 )
      return( false );
    else
      return( true );
}

task main()
{
    if( waitForSwitch() )
        writeDebugStreamLine("switch pressed");
    else
        writeDebugStreamLine("timeout");
 
    while(1)wait1Msec(10);
}
#3