Using Proxy Switch to Calculate RPM

[zero118]

Hello,

Our team is currently attempting to calculate the rpm of a wheel by utilizing a proxy switch. We will then use this calculated rpm with a PID loop do acquire a desired rpm; however, I am struggling to calculate the rpm in labVIEW.

I first tried to use the counter VI, a sequence structure, and a timer delay function, but I ran into problems (all these calculations are occurring in the teleop VI)

Here is the program i am using to calculate the rpm



Apparently the wait function I have in there makes the entire robot inactive.

How do I approach this problem?

Thanks!