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prog:basics_explaining_different_concepts [2024/10/25 01:01] – [Examples] joachimprog:basics_explaining_different_concepts [2026/09/08 23:30] (current) – external edit 127.0.0.1
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 Pens in the same row that are identical can be washed with same programs. Check if there are pens that is different from others. Such as size, interior, location of pipes and other circumstances. Pens in the same row that are identical can be washed with same programs. Check if there are pens that is different from others. Such as size, interior, location of pipes and other circumstances.
  
-Generally, you want to use the same program for all pens in that row. For example, use "Floor R" and "Wall R" to the entire right-hand side. Check if it’s possible to apply the same program to mirror-flipped pens if a row has that.<font 11.0pt/inherit;;inherit;;inherit>If two different programs are needed for mirror-flipped pens, they could be named "Floor R 1"/"Wall R 1" and "Floor R 2"/"Wall R 2".</font>+Generally, you want to use the same program for all pens in that row. For example, use "Floor R" and "Wall R" to the entire right-hand side. Check if it’s possible to apply the same program to mirror-flipped pens if a row has that.If two different programs are needed for mirror-flipped pens, they could be named "Floor R 1"/"Wall R 1" and "Floor R 2"/"Wall R 2".
  
 The first/Last pens are often different with size and is adjacent to external walls so there isn’t possible to apply the same program in these pens. These pens need individual programs. For example, the floor program for the first pen on the right side is named "Floor R First". The first/Last pens are often different with size and is adjacent to external walls so there isn’t possible to apply the same program in these pens. These pens need individual programs. For example, the floor program for the first pen on the right side is named "Floor R First".
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 Examples: Maps of needed floor and wall programs to clean the entire room. As you can see, you get most out of the programming if you focus on the pens in the middle. These pens can repeat the same program. Examples: Maps of needed floor and wall programs to clean the entire room. As you can see, you get most out of the programming if you focus on the pens in the middle. These pens can repeat the same program.
  
-All the programs you teach the robot, must be placed in a **recipe **<font 11.0pt/inherit;;inherit;;inherit>in order to work.</font>+All the programs you teach the robot, must be placed in a **recipe **in order to work.
  
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 ==== Recipe ==== ==== Recipe ====
  
-The recipes tell the robot what programs it should run at each markers. A compilation/summary of different programs. The recipes should be divided so the floor and wall programs are in separate recipes. This is generally for pig stables.<font 11.0pt/inherit;;inherit;;inherit>This means that the robot will first wash the floor in all pens. Then the robot runs back and wash the walls in each pen. We do like this because the floors are the dirtiest area and needs the most focus. This means that the water will have time to soak and loosen the dried-in layer on the floor that has not been released properly. The wall program ends with a rinsing of the floor that takes the last dirt.</font>+The recipes tell the robot what programs it should run at each markers. A compilation/summary of different programs. The recipes should be divided so the floor and wall programs are in separate recipes. This is generally for pig stables.This means that the robot will first wash the floor in all pens. Then the robot runs back and wash the walls in each pen. We do like this because the floors are the dirtiest area and needs the most focus. This means that the water will have time to soak and loosen the dried-in layer on the floor that has not been released properly. The wall program ends with a rinsing of the floor that takes the last dirt.
  
-<font 11.0pt/inherit;;inherit;;inherit>It is the recipes that you are selecting before automatic start. Select the recipes in the order you want them to wash.</font>+It is the recipes that you are selecting before automatic start. Select the recipes in the order you want them to wash.
  
-<font 11.0pt/inherit;;inherit;;inherit>If you know, before the start of the wash, that the floor is very dirty and it sits hard you can run the floor recipe for example 3 times in a row to get more focus on the floor and then finish with the wall recipe.</font>+If you know, before the start of the wash, that the floor is very dirty and it sits hard you can run the floor recipe for example 3 times in a row to get more focus on the floor and then finish with the wall recipe.
  
-<font 11.0pt/inherit;;inherit;;inherit>Name the recipes for the **General washing task**. Such as "Floor", "Wall".</font>+Name the recipes for the **General washing task**. Such as "Floor", "Wall".
  
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 [[:prog:virtual_markers|Read more about virtual markers here. ]] [[:prog:virtual_markers|Read more about virtual markers here. ]]
- <font 11.0pt/inherit;;inherit;;inherit>**You can only start a wash and teach programs to the robot from a physical marker.**</font>+**You can only start a wash and teach programs to the robot from a physical marker.**
  
 Do not use the virtual marker feature if the pens are 280 cm and above wide. The robot can only reposition itself when it reads a physical marker. If the distance between the physical markers are too far there is a greater risk for [[:troubleshooting:no_alarm:robot_positions_incorrect|incorrect positioning]]. Do not use the virtual marker feature if the pens are 280 cm and above wide. The robot can only reposition itself when it reads a physical marker. If the distance between the physical markers are too far there is a greater risk for [[:troubleshooting:no_alarm:robot_positions_incorrect|incorrect positioning]].
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 ==== Examples ==== ==== Examples ====
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 Learning the programs for the **first pens **are done from marker 1. For learning programs to the first pens, drive the robot backwards with the green arrows when selecting the **[[:prog:screen_guide_step_by#start_position|start position.]]** Learning the programs for the **first pens **are done from marker 1. For learning programs to the first pens, drive the robot backwards with the green arrows when selecting the **[[:prog:screen_guide_step_by#start_position|start position.]]**
- <font 11.0pt/inherit;;inherit;;inherit>Programming for the **last** pens are</font> + Programming for the **last** pens are 
- <font 11.0pt/inherit;;inherit;;inherit>done from the last physical marker. Start learning from the last physical marker, but drive the robot to the desired starting position(past the second to last pen according to these examples). This means that we do not need another marker at the last pen (optional) at the end because no matter, you would need individual programs for the first and last pens due to the outer walls (</font> guidance + done from the last physical marker. Start learning from the last physical marker, but drive the robot to the desired starting position(past the second to last pen according to these examples). This means that we do not need another marker at the last pen (optional) at the end because no matter, you would need individual programs for the first and last pens due to the outer walls ( guidance 
- <font 11.0pt/inherit;;inherit;;inherit>wheels could hit the wall/door at the start/end of the aisle).</font> + wheels could hit the wall/door at the start/end of the aisle). 
- <font 11.0pt/inherit;;inherit;;inherit>Different type of rooms could have different types of solutions.</font>+ Different type of rooms could have different types of solutions.
  
 {{:teach-inschedule2_1.png?direct&260x421}}{{:washschedule.jpg?nolink&260x418|washschedule.jpg}}{{https://wiki.envirologic.se//lib/plugins/ckgedit/fckeditor/userfiles/image/prog/teach-inprogs.png?nolink&250x450}} {{:teach-inschedule2_1.png?direct&260x421}}{{:washschedule.jpg?nolink&260x418|washschedule.jpg}}{{https://wiki.envirologic.se//lib/plugins/ckgedit/fckeditor/userfiles/image/prog/teach-inprogs.png?nolink&250x450}}
  
 {{:f3d9df84d306ec0129d10f35220c421b.png?nolink&}} = Feeder {{:b3ef84991e51ed182f43f5336a71a41d.png?nolink&}}= Marker {{:f3d9df84d306ec0129d10f35220c421b.png?nolink&}} = Feeder {{:b3ef84991e51ed182f43f5336a71a41d.png?nolink&}}= Marker
- <font 16px/inherit;;inherit;;#e74c3c>"Floor L"</font>  and +**"Floor L"**  and 
- <font 16px/inherit;;#000000;;#2ecc71>"Floor R"</font>   could, for example, be programmed at marker 3 and then applied to marker 1,2,3,4, 5 and 6 because there are similar boxes there. The boxes are mirror-flipped but only with the feeders on the other side so same program can be applied in these, just have that in mind during the programming so you keep same distance on both sides.+**"Floor R"**   could, for example, be programmed at marker 3 and then applied to marker 1,2,3,4, 5 and 6 because there are similar boxes there. The boxes are mirror-flipped but only with the feeders on the other side so same program can be applied in these, just have that in mind during the programming so you keep same distance on both sides.
  
 {{:markertable.png?nolink&401x334}} {{:markertable.png?nolink&401x334}}
- <font 12px/inherit;;inherit;;inherit>//The table shows which markers the programs are placed at. Markers with same color contain the same programs. This is an example in a finishing room.//</font>+ //The table shows which markers the programs are placed at. Markers with same color contain the same programs. This is an example in a finishing room.//
  
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 To get all floor washed, in the room in the example of the [[:prog:basics_explaining_different_concepts#examples|previous sheet]], To get all floor washed, in the room in the example of the [[:prog:basics_explaining_different_concepts#examples|previous sheet]],
- <font 11.0pt/inherit;;inherit;;inherit>9 different programs were needed.</font> + 9 different programs were needed. 
- <font 12pt/inherit;;inherit;;inherit>**The programs are:**</font> +**The programs are:** 
- <font 11.0pt/inherit;;inherit;;inherit>Individual programs for the first and last boxers on each side (**4** programs) because they have all different requirements.</font> + Individual programs for the first and last boxers on each side (**4** programs) because they have all different requirements. 
- <font 11.0pt/inherit;;inherit;;inherit>"Floor R" and "Floor L" are programs that works to the majority of each side (**2** programs). One program for the first part of the aisle that washes behind the robot, one program for the aisle that works at the majority of the markers,</font> + "Floor R" and "Floor L" are programs that works to the majority of each side (**2** programs). One program for the first part of the aisle that washes behind the robot, one program for the aisle that works at the majority of the markers, 
- <font 11.0pt/inherit;;inherit;;inherit>and one program for the aisle at the last marker where there is another distance from the marker to the outer wall (**3** programs for the aisle).</font> + and one program for the aisle at the last marker where there is another distance from the marker to the outer wall (**3** programs for the aisle). 
- <font 11.0pt/inherit;;inherit;;inherit>**Same principle with wall recipes.**</font> +**Same principle with wall recipes.** 
- <font 11.0pt/inherit;;inherit;;inherit>Floor programs are shorter than the wall programs.</font> + Floor programs are shorter than the wall programs. 
- <font 11.0pt/inherit;;inherit;;inherit>The time you put to make programs is well invested time when the quality and efficiency increases every time.</font> + The time you put to make programs is well invested time when the quality and efficiency increases every time. 
- <font 11.0pt/inherit;;inherit;;inherit>Aim to improve the programs in this room at the next wash and next wash, until you get a result you are satisfied with. This way you keep yourself familiar with the robot and you become a better programmer over time.</font>+ Aim to improve the programs in this room at the next wash and next wash, until you get a result you are satisfied with. This way you keep yourself familiar with the robot and you become a better programmer over time.
  
 {{:recipe.png?nolink&510x328  }} {{:recipe.png?nolink&510x328  }}
- <font 12px/inherit;;inherit;;inherit>Programs created for the right side are placed at the right side (position 1 – 5 as shown on the screen).Programs created for the left side are placed at the left side (positions 6 – 10).</font> + Programs created for the right side are placed at the right side (position 1 – 5 as shown on the screen).Programs created for the left side are placed at the left side (positions 6 – 10). 
- <font 12px/inherit;;inherit;;inherit>"Place in front" (Positions 11 – 12) and "place behind" (positions 13 – 14), can you use for the aisle programs.</font> + "Place in front" (Positions 11 – 12) and "place behind" (positions 13 – 14), can you use for the aisle programs. 
- <font 12px/inherit;;inherit;;inherit>Placing a program on the right side that is programmed for the left side or vice versa doesn’t matter. This concept is only to visually get a clearer picture of what you want to wash at each marker. The robot washes in numerical order.</font>+ Placing a program on the right side that is programmed for the left side or vice versa doesn’t matter. This concept is only to visually get a clearer picture of what you want to wash at each marker. The robot washes in numerical order.
  
 {{:recipe2.png?nolink&510x326  }} {{:recipe2.png?nolink&510x326  }}
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 This picture shows how it would look like at marker one with all programs according to the examples at the [[:prog:basics_explaining_different_concepts#examples|previous sheet.]] This picture shows how it would look like at marker one with all programs according to the examples at the [[:prog:basics_explaining_different_concepts#examples|previous sheet.]]
- <font 12px/inherit;;inherit;;inherit>The location is named Finishing. Recipe is named Floor. The location has 6 markers.</font> + The location is named Finishing. Recipe is named Floor. The location has 6 markers. 
- <font 12px/inherit;;inherit;;inherit>The programs for this location are placed on their positions. Including the aisle programs.The next step is to go to the next marker and choose which programs you want to use there.</font> + The programs for this location are placed on their positions. Including the aisle programs.The next step is to go to the next marker and choose which programs you want to use there. 
- <font 12px/inherit;;#ffffff;;inherit>.</font> + 
- <font 12px/inherit;;inherit;;inherit>Keep in mind that the same programs will follow from the previous marker, to the next marker in the same order. To use other programs when you are at marker 2, you can remove the ones that followed.</font>+ Keep in mind that the same programs will follow from the previous marker, to the next marker in the same order. To use other programs when you are at marker 2, you can remove the ones that followed.
  
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