Stop Buttons

Sometimes you need to be able to stop the robot in an emergency situation.  We can use the same button we used to start the robot as an emergency stop button.  The easiest way to do this effectively is to create another task that runs simultaneously with the main task.  Remember that the robot runs code line by line.  If we want the robot to respond to the button press at any moment, there needs to be another thread (task) running at the exact same time as the rest of our program (main task.)  Below you can see that we created a separate task called stopMe in which it sits in a loop, waiting for the button to be pressed.  Once it is pressed, it stops all motors and executes the stopAllTasks() command which will effectively end the main task, the stopMe task, and exit the program (but not before we turn off all the motors!)

Simple code for making a stop button using a sub task: