Real-Time Robotics Framework

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getting_started:tutorials:sequencer1

Sequencer with Timeout Monitor and Exception Sequence

In the EEROS library you will find a directory with examples. Open a shell in the build directory of your EEROS library and run examples/sequencer/SequencerTest1.
The main program starts the main sequence which itself runs five steps. Each step simply waits for a second.

Flow of SequencerTest1

The main sequence itself has its timeout condition set to 2.5s. After this timeout has expired an exception sequence runs which waits for another three seconds. As the monitor behavior for the sequence is set to restart, the main sequence simply restarts after the exception sequence has finished. The timeout is reset to 0 for the new run.
You can change the behavior to resume or abort, recompile the program, and run it with the altered behavior.