In ARC, when you want to control a servo with multiple skills, such as head tracking with the Camera skill and movements with the Auto Position skill, you need to manage the interaction between these skills to avoid conflicts.

Here's a recommended approach to handle such situations:

1. Prioritize Skills: Decide which skill should take priority over the servo at any given time. For example, if head tracking is a continuous activity but Auto Position movements are occasional, you might prioritize head tracking.

2. Use ControlCommand(): Utilize the ControlCommand() function to programmatically enable or disable skills as needed. This function allows you to send commands to other skills within your project.

3. Scripting: Write scripts that manage the transition between skills. For example, before triggering an Auto Position movement, you can use a script to disable head tracking, perform the movement, and then re-enable head tracking.

Here's an example script that you might use to manage this process:

// Disable head tracking
ControlCommand("Camera Device", "Stop Tracking");

// Wait for a brief moment to ensure the command is processed
sleep(500);

// Perform the  Auto Position movement
ControlCommand("Auto Position", "AutoPositionAction", "Wave");

// Wait for the movement to complete
// You can use a variable or a timed delay based on the duration of the movement
sleep(3000);

// Re-enable head tracking
ControlCommand("Camera Device", "Start Tracking");

4. Event Handling: Some skills may have events that you can use to detect when an action is completed. For example, the Auto Position skill might have an event that triggers when a movement is finished, which you can use to re-enable head tracking.

5. Variable Monitoring: Use global variables to monitor the state of your skills. For instance, you could have a variable that indicates whether head tracking is currently active and use this in your scripts to decide when to perform other actions.

6. User Interface: If you're manually controlling the robot, you can create custom buttons using the Interface Builder that run scripts to manage these transitions.

Remember that when multiple skills attempt to control the same servo simultaneously, it can lead to unpredictable behavior, so it's essential to manage the transitions between skills carefully. The best practice is to ensure that only one skill is controlling the servo at any given time, and use scripting to manage the handover between skills.

Stop the one thing to do the other.

If you're using a screwdriver and you need to use a hammer. What do you do? Do you try to hold them both at the same time? haha

A servo can be in only one position at a time. If you try to have camera tracking while the Auto Position is running, you'll have some crazy robot freak-out session!

But, to wait for an auto position, Athena's will work, but the timing will have to be accurate. It's easier and more dynamic to do this...

controlCommand("Auto Position", "AutoPositionAction", "Bow");
sleep(500);
while (getVar("$AutoPositionStatus") == 1);

Its best to put the robot in different states for its actions. Read the manual and use the Task Script: synthiam.com/Support/Skills/Scripting/Task-Script?id=21103

Also, this process of how to do everything is in this great tutorial here: synthiam.com/Support/Get-Started/how-to-make-a-robot/make-a-diy-robot

Oh, and I thought of this for you too. It’s mentioned in the getting starter guide but in case you missed it

conversation menu: synthiam.com/Support/Skills/Audio/Conversational-Menu?id=21091

you can have a conversation with the user to put the robots in various states

Thanks DJ,  I need figure out how to make  a proper traffic cop to keep track all of this stuff as I want the robot to seem like it is running autonomous.

So I am looking for ways to make that happen using all these tools you have pointed out.

A good way to start is by writing down the things you want the robot to do. It’s an important first step of the getting started guide. It helps you categorize the modes for the robot.

use the conversation menu to allow a user to select a mode. Each mode will configure the robot skills differently.

but you need to make a list of the things you want the robot to do first. That way you can plan the modes.

Yep I have done that! On the most part the main form of user input will be voice commands.  But at the same time I want it to do things based on sensor input