MultipleTasks.sq

//@[MultipleTasksSnippet]
global bool runEverySample = true; // global, so we can set it true or false int RapidSetup.  set to false to stop the program.
global int32 loopCounterDelta = 0; // allows us to view how many RMP samples have elapsed since the previous loop.
global int32 currentSampleCounter; // allows us to see the counter counting when we view globals in RapidSetup
 
void RunEverySample()
{
  int32 lastSampleCounter = ControllerSampleCounterGet();
  
  while(runEverySample)
  {
    currentSampleCounter = ControllerSampleCounterGet();
    loopCounterDelta = currentSampleCounter - lastSampleCounter;
 
    YourFastCyclicCodeGoesHere();
    
    RMPSampleWait(1, currentSampleCounter);
 
    lastSampleCounter = currentSampleCounter;
  }
  print("Done.");
}
 
 
global bool runEvery50Samples = true; // global, so we can set it true or false int RapidSetup.  set to false to stop the program.
global int32 loopCounterDelta50; // allows us to view how many RMP samples have elapsed since the previous loop.
global int32 currentSampleCounter50; 
 
void RunEvery50Samples()
{
  int32 lastSampleCounter = ControllerSampleCounterGet();
  
  while(runEvery50Samples)
  {
    currentSampleCounter50 = ControllerSampleCounterGet();
    loopCounterDelta50 = currentSampleCounter50 - lastSampleCounter;
 
    YourSlowCyclicCodeGoesHere(); 
    
    RMPSampleWait(50, currentSampleCounter50); // wait 50 samples 
    
    lastSampleCounter = currentSampleCounter50;
  }
  print("Done.");
}
 
 
void RMPSampleWait(int32 samplesToWait, int32 startingSampleCounter)
{
  while(ControllerSampleCounterGet() < (startingSampleCounter + samplesToWait))
  {
    wait(0);  // yield to other tasks
  }
}
 
void YourFastCyclicCodeGoesHere()
{
  return;
}
 
void YourSlowCyclicCodeGoesHere()
{
  ControllerSampleWait(25); // simulate doing something that takes 25ms to execute
}
//@[MultipleTasksSnippet]
 
void main(){}