getting_started:practical_problems:abort
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getting_started:practical_problems:abort [2018/05/31 10:37] – graf | getting_started:practical_problems:abort [2024/02/16 08:16] (current) – ursgraf | ||
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====== Shutting down a System Properly ====== | ====== Shutting down a System Properly ====== | ||
How does a robot control system properly shut down? In general it does never stop. Pressing an emergency button might switch to a emergency safety level. From there it might restart again after certain steps are taken. \\ However, in a system under development it is often desirable to end an application. That usually means to switch to a specific safety level where the necessary steps for a well controlled stopping of the application takes place. Only after this happened the executor stops running and returns control to the main program, which then stops as well. \\ | How does a robot control system properly shut down? In general it does never stop. Pressing an emergency button might switch to a emergency safety level. From there it might restart again after certain steps are taken. \\ However, in a system under development it is often desirable to end an application. That usually means to switch to a specific safety level where the necessary steps for a well controlled stopping of the application takes place. Only after this happened the executor stops running and returns control to the main program, which then stops as well. \\ | ||
- | The following example shows how this can be accomplished. The code can be found in [[getting_started: | + | The following example shows how this can be accomplished. The code can be found in [[getting_started: |
<code cpp> | <code cpp> | ||
#include " | #include " | ||
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In the example this function triggers a safety event '' | In the example this function triggers a safety event '' | ||
- | After pressing '' | + | After pressing '' |
The system will stay in the level as long as the shutting down will take. This could include a whole sequence of steps such as applying brakes or driving to a safe position. As soon as this point is reached another safety event, '' | The system will stay in the level as long as the shutting down will take. This could include a whole sequence of steps such as applying brakes or driving to a safe position. As soon as this point is reached another safety event, '' | ||
<code cpp> | <code cpp> |
getting_started/practical_problems/abort.txt · Last modified: 2024/02/16 08:16 by ursgraf