switching between Teleoperated enabled and Wathcdog notfed

[Mark McLeod]

In your case the 5ms timed loop will repeat every 5 ms or as soon as the task scheduler allows after 5ms are up.
The timer vi counts down from the moment it is started, and usually that's co-incident with the loop starting.

Using the example I posted above each use of the timer is a parallel task so it runs at the same time as all the other stuff within the loop.

For instance, the outer loop begins as soon as the four data tunnels in the outer wall are satisfied. These actions then occur in parallel:

• 100ms timer in the outer loop starts
• The Joystick Get also starts at the same time
• The Kick global variable is read

The outer loop will then wait for everything within it to complete before going to the next loop.
Now if all that other stuff (the inner Case statement and loop) finish sooner than 100ms. The outer loop will be waiting for that 100ms timer.
If all that other stuff takes longer than 100ms (it likely will when you kick because a motor is involved, and likely won't when you don't kick), then the timer will be long done by the time everything finishes and the outer loop proceeds to the next loop.

Look also at the first frame of the flat sequence structure. The solenoid release and the timer start simultaneously. So that frame will only take 10ms to complete before moving on to the next frame. A typical solenoid might take 5ms to open fully, so you'd better verify that 10ms is long enough to wait for a solenoid and cylinder to release a latch. If you have a large cylinder on that latch better up the timer to 20ms.