paper: Scripted Autonomous Control: Presentation material and code samples

[Ziv]

Originally Posted by Jogo

Do you have any recommendations for multitasking? For example, if I want to drive the robot while positioning a manipulator?

It depends on exactly what system you're using. With the case structure method described in the presentation, it may be easiest to make a new case that drives and positions the manipulator simultaneously. This works nicely if this is the only multitasking you need, but it gets cumbersome to implement for many possible combinations.
We created a class for each possible command and placed instances of those commands in a queue, which were run one by one as the exit conditions for the previous command were met. One of our classes was DoubleCommand, which took two other commands and a delay between them as an argument and ran both of them. Depending on the exact setup, something similar could be easy to implement when using a case structure.