andy pugh wrote: > (As an aside, that does mean that you could set up a delay-line by > deliberately running functions out of sequence) > My E-stop scheme for the various Pico Systems interfaces use this trick. Since both software and the hardware interface can command an E-stop, the hal file asks the interface to come out of E-stop, but then doesn't check the current result until the next servo cycle, to give the hardware time to actually complete the task. If the hal code didn't wait a cycle, it would always find the interface in the E-stop condition, and you couldn't get out of E-stop.
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