Hello everyone,
I am trying to implement a vision system (depth sensor) to keep track of obstacles/operators entering the station but find myself in need of help/advice.
To begin with, I have no access to IOs for BooleanIOCondition/Listener so I established a socket communication with the vision system instead which provides me with a string indicating if someone has entered the zone (seems to work well). Naturally, this needs to happen concurrently with the execution of the main task so my thought was to handle the vision system in a background task but I have not figured out a good way to stop (or slow down) the robot from there. I know that the manual for Sunrise Workbench states that it is not advisable to use a background task to influence the movements of the robot but I have not figured out any other way of doing it.
Any tips or ideas? Is it possible/better to run a concurrent task in the main program (and how do I do it)?
Thanks in advance