A command to call two subprograms to execute concurrently

    Hi everyone,

    I have created a subprogram "Move" to move a robot from point A to point B and another subprogram "Recup_Pos" to capture the robot's position as it moves from A to B. While the robot is moving, I also want to simultaneously collect the position data and update a variable to store and send it.

    How can two programs run simultaneously?

    Do you have any suggestions for me?

    Thank you for your help.
    Best regard,

    Vi

    Hello Vi NTT,

    have a look into the command taskCreate. That way you can create a parallel task. Keep in mind that if your subprogram "Recup_Pos" doesn’t have a loop the program won’t loop and the task will end after one execution. Also, you should add at least one blocking instruction like “delay(0)” in your loop. This will make sure that both tasks get some CPU time.

    The difference between theory and practice is greater in practice than in theory.

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