Multi-Tasking End Management Procedure

One of the great features of Robo Pro is the very easy multi-tasking programming.

However, there's no mechanism supplied to end all tasks. Here's one end management procedure, consisting on two functions:
  • END_Process defines and manages the input for the end request
  • END_Test_R or END_Test_L are included in each loop and in each process to exit
As usual, the ready-to-use project is included below.

Example

Here's a standard example with two processes: 
  • one is a counter, 
  • the second is the end management process. 
For more elaborate implementations, please refer to my other projects (as Colours Readers - Industrial Line and Manual Scan).
Picture

Process on the Main Program

This process is compulsory in the main program. It launches the END_Process function and defines the input to check. 

Here, a software button Bouton is used. Very often on my projects, I used a switch connected to the i8 input. 
The END_Process function just checks the input defined and,if so, sets the Fin variable to 1.

Function on Each Loop and Each Process

Each loop and each process shall include either END_Test_L or END_Test_R function.

This function checks the value of the Fin variable and redirect the to the output accordingly:
  • END if the end is required
  • fwd otherwise.

In order to avoid messy projects, two flavours are supplied: 
  • one with the END on the left, 
  • another with the END one the right. 
Download the driver with an example for RoboPro.     

This file is under the Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License.
end.rpp
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