Order of commands

The robot has two different queues for processing commands; normal priority queue and high priority queue.

Normal priority queue is designed for commands that need to run sequentially and the order matters in their execution, such as move commands. Sometimes, while executing commands in the normal priority queue, the user needs to issue some higher priority commands that need to be executed immediately upon being received by the controller. For instance, assume that the user needs to halt the robot immediately. In that case if the halt command sits in the same queue as the normal priority commands, it will be executed after all other commands are finished, which is useless. Another use case is reading input values. Sometimes, the user needs an input value of the controller, after a certain command is finished. In that case the read command should be placed after the desired command in the normal priority queue. There are other instances, where the user needs to read the input value immediately without waiting for completion of other commands in the normal priority queue. In that case, the user has to submit a read input command to the higher priority queue.

Some commands are only assigned to a specific queue by the controller. For other commands, the user has the option to submit them to the normal priority queue or high priority queue. For such commands, the "queue" field specifies the queue of the command. If "queue" is set to 1, the command will be submitted to the high priority queue and will be executed instantly. If "queue" is set to 0, the command will be submitted to the normal priority queue, and will be launched only after all other commands before it are processed.