Conditional Statements

RoboBar

Does anyone know what the max amount of conditional statements the UR5 can handle in a single parent program? I've tried over 100 conditionals in a single parent program and cannot get out of an infinite loop, but it will work with roughly 64 conditionals.If i add one more conditional i get an infinite loop error. Anyone have any ideas that could help me out ?

matthewd92

@RoboBar I do not know how many conditionals you can have, I've never needed more than about 20 but what you are running into is an issue where the if statement is taking longer than 8ms to process and that is why you are getting an infinite loop. I'd recommend breaking your parent into two parent if statements with a sync() between the two parent if's. this will allow the process to get back in sync with the system and will eliminate that infinite loop. I've run into similar issues when using lots of sub programs and either select statements or if statements controlling the sequencing of the sub programs. 

RoboBar

How do I use a sync command to link the two parent programs I've broken the conditionals into ? 

matthewd92

Something like this

Main Program
  if .....
  else if  #1....
  ...
  else if  #50.....
  sync()
  if .....just continue with your conditionals
  else if #1....
  ....
  else if #50....
  sync()

subProgram #1
subProgram #2
...
subProgram #100

RoboBar

I've tried entering script code sync() where the last conditional is before the infinite loop begins and it is still giving me the same infinite loop error 

matthewd92

Post up your code or you can email it and I'll take a look. 

RoboBar

I sent the program file in a message to you, did you not receive it? 

DMO_Universal

For extremely large if/elif chains you're going to create a lot of lag.  This lag was why the Switch Structure was added to the Polyscope interface.

Are you able to switch to using a Switch?  It would allow you to fit scores of cases into a single Structural element, with no lag!

matthewd92

@DMO_Universal the only caveat is that switch only works with a single integer value, can't use for string values or choosing different inputs for different parts of the conditional. At least that is my understanding of how it works, if there's a way to use it differently I'd love to see it

One workaround for using inputs or outputs is to create a variable which is the byte value of the inputs that way it becomes a single integer that you can switch on.