Differences

This shows you the differences between two versions of the page.

--- prog:basics_explaining_different_concepts [2020/09/29 01:51] – joachim
+++ prog:basics_explaining_different_concepts [2022/01/03 11:02] (current) – user
@@ Line 13: / Line 13: @@
 For each location we create unique programs, adapted for this location. This means that a program in another location can have the same name without having duplicates(see illustration below)//. //For the programs to work and wash in the right order, we must add them in **recipes**. Everything that is created for a location will only be available in this room (see the illustration below).
-However, it is possible to copy programs from one location to another if you know that this program would fit in identical pens in another room. This feature is found where you create recipes. For more information, read **"From start to finish - Step by step guide", **at step**"Place programs in recipe"** under **2), a) & b). **
+However, it is possible to copy programs from one location to another if you know that this program would fit in identical pens in another room (identical pens with same position of the magnetic markers). This feature is found where you create recipes. For more information, read from **[[:prog:screen_guide_step_by#create_recipe|step 12. Create recipe]] **to step 14 in the [[:prog:screen_guide_step_by|screen guide. ]]
 **{{:mapoverview2.png?direct&800x416}}**
@@ Line 48: / Line 48: @@
 ==== Program ====
-Program is what you teach the robot with [[:prog:joystick-how_to_move_the_robot|the joystick.]] It is very important that you start with programs that are simple and that work without alarms. Nobody will master the programming perfectly the first few times. Practice makes perfect. <font 11.0pt/inherit;;inherit;;inherit>If you try too much and do too difficult things, there is a risk that the robot will go into alarms and your EVO Cleaner will be inefficient. An EVO Cleaner that washes 70% clean, efficient, is a better robot than the one who tries to wash up against 100% but who always ends up in alarm. The more you program the better programmer you will be, and it'll give you better results and more efficient programs. First aim to create programs that work efficient. Do only focus on the "standard" pens (the pens in the middle) when you start. The first and last pens are most often unique and needs individual programs. When this room is empty next time, you can add new programs, like the first or last pens. You can also reprogram a program that needs to be improved. This time you will make even better programs that are even more efficient and provides better results. Work gradually with this until you get programs with a result you are happy with.</font>
+Program is what you teach the robot with [[:prog:joystick-how_to_move_the_robot|the joystick.]] It is very important that you start with programs that are simple and that work without alarms. Nobody will master the programming perfectly the first few times. Practice makes perfect. [[:remake_program|If you try too much and do too difficult things, there is a risk that the robot will go into alarms and your EVO Cleaner will be inefficient. An EVO Cleaner that washes 70% clean, efficient, is a better robot than the one who tries to wash up against 100% but who always ends up in alarm. The more you program the better programmer you will be, and it'll give you better results and more efficient programs. First aim to create programs that work efficient. Do only focus on the "standard" pens (the pens in the middle) when you start. The first and last pens are most often unique and needs individual programs. When this room is empty next time, you can add new programs, like the first or last pens. You can also reprogram a program that needs to be improved]]. This time you will make even better programs that are even more efficient and provides better results. Work gradually with this until you get programs with a result you are happy with.
 So bottom line, don't try too much the first thing you do.
@@ Line 55: / Line 55: @@
   - No alarms
   - Efficiency
   - Results
@@ Line 93: / Line 95: @@
 ==== Markers ====
-[[:parts:magnetic_markers|]] are the robot's references. They make the robot place itself correctly in the aisle. Markers shall be placed in the same place at each pen or at every other pen if you have mirror flipped boxes. If you have identical rooms, place the markers in the same position in every room to ensure that the robot is positioned correctly and avoid collisions. The markers main task is to repeat the programs you have made with the joystick.
+[[:parts:magnetic_markers|]] are the robot's references. They make the robot place itself correctly in the aisle. Markers shall be placed in the same place at each pen (see illustrations below). Preferably we want the markers to be placed between the pens, somewhere close to the wall which divides the pens. Imagine that the two pens (right side pen and left side pen) after the marker is connected to the marker (see illustrations below). If you have identical rooms, place the markers in the same position in every room to ensure that the robot is positioned correctly and avoids collisions. The markers main task is to repeat the programs you have made with the joystick.
+**Examples of marker placements in a weaning, finishing or similar room:** \\
+As seen in the two illustrations below. One room doesn't have a marker at the last pen but the other does. If your room has gates (or something else) in the aisle that are sticking out a couple centimeters from the wall, which leads up as an obstacle for the robots guidance wheels, then you should use a marker at the last pen. If there are obstacles in the aisle the robot could position itself incorrect due to slipping/spun drive wheels (too big obstacle for the guidance wheels to climb over). \\
+The markers are there as a reference, making it possible for the robot to reposition itself if something goes wrong in the positioning in the aisle. If the aisles wall, which the robots guidance wheels are facing, are even and smooth it is not necessary to use a marker at the last pen. Since the last pen needs a special program due to the outer wall/door that are in the way for the guidance wheel at the front. Those programs could nevertheless be thought from the marker before. \\
+In the examples below, we can use the programs in the middle to all the pens in the middle. The markers makes it possible to repeat these by putting the programs in to a recipe.
+{{:prog:markerplacementandprogramteach-ins1.png?direct&300x539}}{{:prog:markerplacementandprogramteach-ins2.png?direct&300x539}}
+ \\ **Example of marker placements in farrowing: ** \\
+A farrowing room has most often mirror flipped pens. This means that the robot needs to do a program for each unique pen and then repeat the same programs at next marker. This means the robot only needs a marker at every second wall. The robot will in this case repeat four programs at the markers in the middle.
-{{:prog:physicalmarkers.png?direct&602x194}}
+{{:prog:markerplacementandprogramteach-insfarrowing.png?nolink&582x454}}
 Markers are magnetic and the robot has a [[:parts:comp_marker_switch|magnetic sensor]] to read the markers. The magnetic markers are only placed in the aisle during the automatic wash. Brackets are mounted permanently. The magnetic sensor must be within 10 cm from the markers, otherwise the sensor cannot read the markers.
@@ Line 107: / Line 119: @@
 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]].
-<font 11.0pt/inherit;;inherit;;inherit>With virtual markers you don't need as many physical markers, a good feature for those rooms that are very long.</font>
+With virtual markers you don't need as many physical markers, a good feature for those rooms that are very long.
-[[:parts:magnetic_markers|Link: Different types of magnetic markers]]
+Link: [[:parts:magnetic_markers|Different types of magnetic markers]]
 ----
@@ Line 123: / Line 135: @@
 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><font 11.0pt/inherit;;inherit;;inherit>done from marker 6. For learning the programs to the last pens, start learning from the last physical marker, but drive the robot to the desired starting position</font><font 11.0pt/inherit;;inherit;;inherit>(past the second to last pen according to these examples). This means that we do not need a 7th marker at the end because no matter, you would need individual programs to the last boxes</font><font 11.0pt/inherit;;inherit;;inherit>.</font>
+<font 11.0pt/inherit;;inherit;;inherit>Programming for the **last** pens are</font><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 <font 11.0pt/inherit;;inherit;;inherit>wheels could hit the wall/door at the start/end of the aisle).</font>
-<font 11.0pt/inherit;;inherit;;inherit>Different type of rooms could need different solutions.</font>
+<font 11.0pt/inherit;;inherit;;inherit>Different type of rooms could have different types of solutions.</font>
 {{: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}}