How to launch a piece of code periodically?

[chewws]

Hello!

I am currently using a Bioloid Comprehensive kit and RoboPlus, and want to make a simple robotic car for a school project.

Basically, I want the car to move by itself, avoiding obstacles while periodically (every 15 seconds or so) raising a claw of some sort. I am able to get the car to move the way I want it to, but I'm not sure how to get it to raise a claw periodically.

Does anyone have any idea how I can get it done? Thank you so much!

[vmatos]

Are you using RoboPlus Task?

If so, I would follow the tutorials for understanding how it all works.
Then you can implement your loop or condition for operating the claw.

http://support.robotis.com/en/product/bioloid/comprehensivekit/bioloid_comp_tutorial.htm

[chewws]

For clarification: I'm interested in knowing how to get the claw to move every 15 seconds WHILE the main code is running (the one that gets the car moving and avoiding obstacles using sensor readings). In other words, how do I get the claw-moving code to launch at set intervals while the car-movement code is also running at the same time?

The closest I've come to finding out how to get it to work is using the CALLBACK function, but I believe that function does not support such a difficult task?