Difference between revisions of "Smartsoft"
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Revision as of 10:14, 16 October 2013
Robotino-SmartSoft-FleetManager
TCP/IP Communication Protocol B/W Fleet Manager and SmartFestoFleetCom
Commands in both the directions has the format, CommandName CommandArgument1 CommandArgument2 ie, Space between command name and its arguments, and additional commands appended with a newline character.
FleetManager to SmartSoft | ||
---|---|---|
Command | Usage Example | Description |
DeliverFromTo SourceStationID SourceBeltID DestinationStationID DestinationBeltID | DeliverFromTo 1 0 2 0 | Drive to Position 1, dock to Belt 0, Load, Undock, Drive to Position 2, dock to Belt 0, Unload, Undock |
GotoStation StationID | GotoStation 1 | Drives to Position 1 |
DockTo BeltID | DockTo 0 | Docks to Belt 0 |
Undock | Undock | Undocks if already docked |
LoadBox | LoadBox | Loads on Box if no box already loaded and box available to load |
UnLoadBox | UnLoadBox | Loads on Box if no box already loaded |
Stop | Stop | Halt the Robotino, put the task on hold |
Continue | Continue | Resumes the task if a task is on hold |
EndTask | EndTask | Terminates the ongoing task and go to Home Position |
TeachPosition PositionID x y z | TeachPosition 1 0.54 23.5 45.0 | Teach Position with ID 1, in global coordinates x(in meters):0.54 y(in meters):23.5 theta(in degrees):45 |
TeachCurrentPosition PositionID | TeachCurrentPosition 1 | Assign the current global position the ID 1 |
SetNameForPosition PositionID name | SetNameForPosition 1 RedParts | Sets a tag RedParts for PostionID 1 if exists |
GetNameForPosition PositionID | GetNameForPosition 1 | Reads the tag for PostionID 1 if ID and tag exists |
SmartSoft to FleetManager (Cyclic every 500ms) | ||
RobotPose x y z | RobotPose 0.5 12.56 12.5 | Position of robot in x=0.5(in meters),y=12.56(in meters)and angle=12.5 in degree |
BatteryState voltage voltageLow | BatteryState 18 1 | Battery voltage is 18Volts and voltage low is true |
SystemState CurrentCommand CommandArgs CurrentCommand: NoJob, StartJob, JobDone, JobError |
SystemState StartJob 1 0 2 0 | A Job has been started to Drive to Position 1, dock to Belt 0, Load, Undock, Drive to Position 2, dock to Belt 0, Unload, Undock |
SystemState NoJob | Robot Idle and waiting for task | |
SystemState JobDone 1 0 2 0 | Box transported from Position 1, Belt 0, to Position 2,Belt 0 | |
SystemState JobError PATH_BLOCKED | Robot path blocked to complete the task | |
Progress | Progress 40 | 40% of the Job is complete |