Wait command for thread

Technical Questions
1

Hi,

Currently attempting to add a wait command to a thread to better manage the timing.

Ideally, the high level logic would be Wait ‘Robot at Conveyor_Pounce’

‘Conveyor_Pounce’ is a programmed pose which is selectable as such. I just can’t seem to rack my brain around the function required to run this ‘compare’ to the live robot pose.

Does anyone have any initial ideas?

Cheers!

Zac

2

An easy approach would be to have a global boolean variable that you set on your main thread when the robot reaches there.’

# Before_Start
gobal robot_at_conveyor_pounce = False # init value

# Robot program
gobal robot_at_conveyor_pounce = False # do this if the program runs in a loop
do_stuff()
move_to_conveyor
  - Waypoint_1
  - Waypoint_2
  - Conveyor_Pounce
gobal robot_at_conveyor_pounce = True

# Thread_1
wait while (not robot_at_conveyor_pounce)

Hope this helps