regdtcwall( sectionname, priority )

Parameters

_result

Not set.

Descriptions

Registers the section specified by sectionname to handle wall detection events. The wall detection event handler is called if no higher priority events are occurring when a call to scan detects a wall.  

Wall detection events are triggered by the _dtcwall variable. When a wall detection event handler completes, the _dtcwall variable is automatically decremented by one potentially ending the event. Detection variables are counters so that the scan command is able to trigger another event when called before the detection event handler completes.

When scan detects an obstacle, the following system variables are updated to provide information about the obstacle: _dtcbearing, _dtcheading, _dtcenergy, _dtcid, and _dtcteamid. Robots only track information about the most recent detection event, causing all _dtc variables to be reset for each detection. 

The priority value should be a whole number, decimals are ignored. Lower numbers are higher priority. The highest priority possible is 1. If two events registered with the same priority occur at the same time, it is unspecified which event handler will be called. 

When an event handler is registered or re-registered, it becomes immediately active. Use the dtcwallevents command to temporarily deactivate a registered event handler.

See Also

dtcwallevents, _dtcwall, _dtcbearing, _dtcheading, _dtcenergy, _dtcid, _dtcteamid, event summary