waitfor

Pause code execution to achieve desired execution rate

Syntax

waitfor(rate)

numMisses = waitfor(rate)

Description

waitfor(rate) pauses execution until the code reaches the desired execution rate. The function accounts for the time that is spent executing code between waitfor calls.

numMisses = waitfor(rate) returns the number of iterations missed while executing code between calls.

Input Arguments

rate — Rate object

handle

Rate object, specified as a handle. This object contains the information for the desired rate and other information about the execution. See rateControl (Robotics System Toolbox) for more information.

Output Arguments

numMisses — Number of missed task executions

scalar

Number of missed task executions, returned as a scalar. waitfor returns the number of times the task was missed in the Rate object based on the LastPeriod time. For example, if the desired rate is 1 Hz and the last period was 3.2 seconds, numMisses returns 3.

Version History

Introduced in R2019b