Hello,
I have a program that runs using 3 subrprograms which Ill call Subprogram1, Subprogram2, and Suprogram3. Subprogram1 gives the robot the location of the item. Subprogram2 tells the robot to go pick up the item. Subprogram3 tells the robot to move to the dropoff location and place the item. To save time, I would like to run Subprogram1 while Subprogram3 is active. I figured id use a thread for this. I selected thread and made an if condition. However, I get an error every time saying there is another thread already controlling the robot which isn’t possible. This is the only thread I have made. Please let me know if there is something I am missing as I have never programed with threads before. Here is the code below:
Thread_1:
If Subprogram3():
wait (0.1)
call Subprogram1()
sync()
update: I realized the problem. When I typed if Subprogram3(), it did not work. But if i place something else, for example 2+2 =4, then it works. But i need this to run while Subprogram3 is running. How can i get around this?
I’m sure someone else can give you a better answer, as I haven’t written many threads myself, but . .
When we do this kind of thing - using a camera to locate the next part on a light table, we usually just call the camera script from the main program or subroutine at a suitable point - however, it pauses execution while the camera is looking.
To do this using a thread, I would think that you could set a variable we’ll call Sub_3_active at a suitable point within subprogram 3 to True, and within Thread1 monitor for that variable. Turn that variable off before Subprogram 3 ends.
Hello,
If I’m understanding your question correctly, the sample code below may be helpful. Each subprogram doesn’t have some variable associated with it that represents its run state, but you can add a variable right at the beginning and end of a subprogram, then reference that.
Here, the trigger variable is set to True when SubProgram_2 begins running, and trigger is used to start the Event which calls SubProgram_3. This also only works because SubProgram_3 has no motion inside of it.
In your case, if your Subprogram1 has any robot motion inside of it, you’re going to end up with an error.
