So i am writing a program where the robot gets out of a machine in case it gets stuck and goes home. The controller i am dealing with have 5.09 robotware so do not have error handler. I was told that i should make a background task. I made one sort of, but i was thinking what connects the bool i created "Collision" with an actual event of a collision? Or if anybody thinks of a better way for me to deal with something like this any help would be greatly appreciated.
Thank you in advance.