I am coding an automated guided vehicle. The machine needs to start with the press of a button, and move back and forth until an emergency stop is pressed. I have the code for the loop to make it continue on the path i want, but i cannot figure out how to code in an emergency stop. Any suggestions appreciated. I can only get to where i can make it stop when the loop starts over. but it needs to be able to be stopped at any point in the loop. The code I have so far:

task main()
{wait(1);
untilBump(dgtl1, 5);
startMotor(port1,55);
startMotor(port10,55);

while(SensorValue(bumpswitch)==0)
{
if(SensorValue(bumpswitch)==1)
{
stopMotor(port1);
stopMotor(port10);
}
untilBump(dgtl2, 5);
stopMotor(port1);
stopMotor(port10);
wait(1);
startMotor(port1,-55);
startMotor(port10,-55);
untilBump(dgtl3,5);
stopMotor(port1);
stopMotor(port10);
wait(1);
startMotor(port1,55);
startMotor(port10,55);

}

}

In order to do something at any time you need to be continuously scanning for it and be able to act on it. To make this happen your code needs to use commands that do something and move on without waiting. You must avoid commands that tie up the processor such as ‘wait’ or ‘until…’. By having your main loop execute and keep moving, the ability to add things like a blinking LED or estop button become quite easy.

My recommendation would be to use the switch/case statement to increment through the motions in your assignment. In lieu of a wait, each step would check a timer to see if it should move on. The until statements would be replaced by not incrementing until the press and release was detected.

This will make your code longer but not burn CPU time by doing nothing during the wait and until… statements. Please try this and post the result. We could help with that code, unlike your existing code.

You could try something like that.
Some things that could could help you out are:

Task declaration


Start and stop individual tasks