[TomKerekes]

Hi Jeff,

A general way to handle multiple events using a single Thread is to use a State Machine, See the untested example below:

#include "KMotionDef.h"

// Press Brake control 

enum { IDLE, JOG_DOWN, DELAY, HOME };  // states

#define BIT_PEDAL 1033
#define BIT_NEG_LIMIT 1035
#define BIT_TOP_LIMIT 1034
#define BIT_AUTO 46

#define ZAXIS 0

#define DWELL 2.0 // delay at bottom seconds

void main()
{
    int state=IDLE;
    double DelayTime;
    
    for (;;)
    {
        switch (state)
        {
        case IDLE:
        if (ReadBit(BIT_PEDAL))
        {
            Jog(ZAXIS, -100);  // Jog down
            state = JOG_DOWN;
        }
        break;

        case JOG_DOWN:
        // stop Jogging down if pedal released and not Auto mode
        if (!ReadBit(BIT_PEDAL) && !ReadBit(BIT_AUTO)) 
        {
            Jog(ZAXIS, 0);  // Stop
            state = IDLE;
        }
        else
        {
            // hit negative limit?
            if (ReadBit(BIT_NEG_LIMIT))
            {
                Jog(ZAXIS, 0);  // Stop
                DelayTime = Time_sec() + DWELL;
                state = DELAY;
            }
        }
        break;

        case DELAY:
        if (Time_sec() > DelayTime)  // Dwell finished?
        {
            Jog(ZAXIS, 400);  // Begin Homing
            state = HOME;
        }
        break;

        case HOME:
        if (ReadBit(BIT_TOP_LIMIT))  // Homed?
        {
            Jog(ZAXIS, 0);  // Stop
            state = IDLE;
        }
        break;
        }
    }
}