Straight from the manual:
An interrupt is only recognized at, or below, the level in which it is declared. In other words, an interrupt declared in a subprogram is not recognized in the main program (and cannot be activated there). If an interrupt is also to be recognized at higher levels, the declaration must be preceded by the keyword GLOBAL.
It will be recognized in all functions/procedures above cell.src (e.i. none).
Also RESUME vcannot be used with interrupts declared as GLOBAL, c
... that declaration tells to robot to call stop isr when fault is detected.
. that declaration tells to robot to call stop isr when fault is detected.
Ok but why is it declared as GLOBAL INTERRUPT? I understand why in the template module because they can be used in a main program but cell.src isn't suppose to be the highest level?
Ok but why is it declared as GLOBAL INTERRUPT? I understand why in the template module because they can be used in a main program but cell.src isn't suppose to be the highest level?
That part is boilerplate code, no special case was made for cell.src. Doesn't affect the functionality.
panic mode, Yes I noticed that during my testing phase. Do you know what is the reason?
One of my colleagues said that it's because it wouldn't know where to Resume as it is declared globally.
this was covered in programming2.
RESUME kills all subprograms below level where the interrupt is declared and returns to main program after call to this (killed) branch.
but global interrupt would then try kill ... everything ....
Hello everyone, I have a question about global Interrupt. When I push button, I want to pause the program that means Want to create interrupt but I wonder How Can the program turn to home position in the interrupt program. If you can help me, I will be happy
don't do that....
interrupts ae meant to react to events and be done quickly. so just use interrupt to detect and flag something. use separate program that gets the robot home
