wait or sensor

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?

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

    long    currentTime = TIMEOUT;

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

    if( currentTime == 0 )
      return( false );
      return( true );

task main()
    if( waitForSwitch() )
        writeDebugStreamLine("switch pressed");