[billbo911]

Originally Posted by archwaykitten

I am trying to make a very similar state machine kicker myself.

My problem is this: Say you tell your program to "wait" in a particular state for two seconds while a piston extends... I would expect the rest of your program to "freeze" for two seconds while that state machine code waits to execute. We want to be able to continue driving around and entering comands while our ball kicker state machine does its thing.

The key is to have the vi run parallel to all other process. This way the other process, ie teleop.vi, do not have to wait for the kicker to cycle. We did this by placing the kicker state mchine in the main.vi. (See the attached picture) It requires no input from any other processes to complete, therefore it runs immediately. It also doesn't output any information that other vis need.