\input manualMacros.tex
\manBegin
\manPageInfo{RCCL Reference Manual}{}{}
\manTitle{rcclScheduling}{3}
\manSection{NAME}
{\rightskip=0ptplus1fil
{\tt \manName{rcclScheduling}}
-- set the RCCL scheduling discipline.

}
\manSection{USAGE}
\cverbatim
#include <rccl.h>

rcclScheduling (disp)
  int disp;
@endcverbatim
\manSection{ARGUMENTS}
\manItem{{\tt disp} --}
Scheduling discipline.
\manSection{RESTRICTIONS}
Must be called from the planning level, before the first call
to {\tt rcclCreate()}.
\manSection{DESCRIPTION}
This routine sets the scheduling discipline for the RCCL control level.

This scheduling discipline, which is one of {\tt ON_CLOCK},
{\tt ON_TRIGGER}, or {\tt ON_FUNCTION}, is used to control
the scheduling of the RCI task running the trajectory generator.
A description of these disciplines can be found in {\tt rciScheduling(3)} and
{\tt RCCL_params(5)}.

The discipline set by this routine will override the 
default discipline described by the {\tt scheduling} parameter
in the {\tt .rciparams} file.
\manSection{DIAGNOSTICS}
{\tt rcclScheduling()} returns {\tt -1} in the event of an error.
It will automatically abort the program if the option {\tt RCCL_ERROR_EXIT} is
set (see {\tt rcclSetOptions(3)}). 
Error codes and messages are placed on the {\it errorStack} (q.v.). 
The following error codes may be set:

\manItem{{\tt EBadArg} --}
Illegal argument specified.

The routine will abort the program if called from the control level.
\manSection{SEE ALSO}
\rightskip=0ptplus1fil
{\tt RCCL_params(5)}, {\tt rciScheduling(3)}.
\manEnd
\end
