I have the following main task:

The compiler complains about "*Warning*:Comparison between 'signed' and 'unsigned' operands.". I checked the help topic on the intrinsic nPgmTime variable. It said it is a "const long". I declared nextPeriod to be long. So they are both signed. Does the help on nPgmTime lie? Changing the declaration of nextPeriod to be "unsigned long" get rid of the warning. It is not a big deal but reporting it nevertheless.

This doesn't expalin the documentation, but in RobotCIntrinsics.c, the declaration of nPgmTime reads as follows:

Using a signed long for program time wouldn't make a lot of sense. It could cause problems with the space-time continuum, should the clock roll over into the negative.

= Xander