IRC5, RW 6.12.
I have a customer who wants to control the Override speed of the robot, when it's in Auto, from external signals. At first, I thought it would be simple: just add a SemiStatic task that monitored the inputs and used SpeedRefresh or maybe VelSet. But the manual for both those commands says they can only be used in the main motion task.
The next alternative I thought of was to create an Interrupt at the top of my Main routine, linked to call a routine that would fire SpeedRefresh when the inputs changed state. But I haven't played with RAPID interrupts before, so I'm not sure what subtleties I might miss.
Anyone know a clever and/or elegant solution to this problem?