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prog:basics_explaining_different_concepts [2021/12/20 04:33] – userprog:basics_explaining_different_concepts [2022/01/03 11:02] (current) – user
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 **Examples of marker placements in a weaning, finishing or similar room:** \\ **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 side 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 side wheels to climb over). \\ +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 side 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 side wheel at the front. Those programs could nevertheless be thought from the marker before. \\+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. 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.
  
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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><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</font><font 11.0pt/inherit;;inherit;;inherit>(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 (side wheels could hit the wall/door at the start/end of the aisle)</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 have different types of solutions.</font> <font 11.0pt/inherit;;inherit;;inherit>Different type of rooms could have different types of solutions.</font>