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Pause code execution to achieve desired execution rate


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

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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

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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.

See Also

| | (Robotics System Toolbox)


Introduced in R2019b