Autonomous Mode, Independent, Iterative (?)
 

Hello, My Name is Valery and I'm the lead programmer in our team, 2669, Kiryat Yam, Israel.

My experience with autonomous mode is tiny.
while trying to write an autonomous mode I bumped into a problem.

I couldn't figure the independent and iterative modes and didn't understand what to choose.
finally I've chosen the independent because I understood that this vi does the program one time and then stops.

but I saw that in the Main VI there's a referral to the iterative vi, should I change it to the independent ? in the iterative vi there's a case structure that leads to an independent autonomous but the case is empty, should I put there the independent auto' VI ?

How can I "tell" the robot that I'd like him to use the independent autonomous and not the iterative?


thanks, valery

Re: Autonomous Mode, Independent, Iterative (?)
 

In Begin.vi, there is a selection for independent and iterative. Independent is selected by default. The default framework has references to both, but it only runs what you have selected in begin.

Re: Autonomous Mode, Independent, Iterative (?)
 

so if I choose independent autonomous, Where should I put my code?
in the Independent VI or in the iterative vi in the independent case ?

thank you, valery

Re: Autonomous Mode, Independent, Iterative (?)
 

Autonomous_independent.vi will be called when autonomous begins and terminated when it ends.

Autonomous_iterative.vi will be called at 50hz during Autonomous. The purpose of putting some Independent code in Iterative is to handle periodic tasks that must be run in a loop, such as feeding the watchdog.

So what you will want to do is feed the watchdog in Autonomous_Iterative.vi and put the rest of your code in Autonomous Independent.vi

Re: Autonomous Mode, Independent, Iterative (?)
 

Doing that may be no better then disabling the watchdog. If you have an error in your code in autonomous independent, the watchdog would continue getting fed. It's better to completely ignore the autonomous iterative, and put all your code (including feeding the watchdog) in autonomous independent.