User Tools

Site Tools

Trace:

Differences

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

Link to this comparison view

Both sides previous revisionPrevious revision
Next revision		Previous revision
prog:floor_program [2020/06/01 06:44] – ↷ Page moved from floor_program to prog:floor_program joachimprog:floor_program [2020/09/15 05:43] (current) – joachim
Line 3: Line 3:
 This instruction gives you the basics of the washing patterns we want you to apply in your floor programs. This is partly for the robot to wash as efficiently as possible but also for the wash to be ergonomic to the robot itself. This instruction gives you the basics of the washing patterns we want you to apply in your floor programs. This is partly for the robot to wash as efficiently as possible but also for the wash to be ergonomic to the robot itself.
  
-Before jumping in to the instruction below, you should know about the [[:joystick-how_to_move_the_robot|robots movements (joystick)]] and [[:prog:basics_explaining_different_concepts#parking|parking positions]].[[:robotsmovements.png?media=robotsmovements.png|{{:robotsmovements.png?nolink&500x249}}]]+Before jumping in to the instruction below, you should know about the [[:prog:joystick-how_to_move_the_robot|robots movements (joystick)]] and [[:prog:basics_explaining_different_concepts#parking|parking positions]].
  
 If you need more basic information and understanding regarding programming, you can find it __**[[:prog:basics_explaining_different_concepts|here.]]** __ If you need more basic information and understanding regarding programming, you can find it __**[[:prog:basics_explaining_different_concepts|here.]]** __
  
-If you want guidence on [[:prog:screen_guide_step_by|how to press on the screen, you can find it here.]]+If you want guidance on [[:prog:screen_guide_step_by|how to press on the screen, you can find it here.]]
  
 ---- ----
Line 21: Line 21:
 Therefore, it is important that you use our principles as basics during programming to get the full potential of the robot with the least possible wear. Therefore, it is important that you use our principles as basics during programming to get the full potential of the robot with the least possible wear.
  
-**:!: Always have good margins to the inventory of the pen with every part of the robot. :!: **+**:!: Always have good margins to the interior of the pen with every part of the robot. :!: **
  
 ---- ----
Line 27: Line 27:
 ===== The washing patterns ===== ===== The washing patterns =====
  
-For a floor program, start from the marker and select a start position so that the tower is in the center of the pen (if possible due to pipes). When selecting the start position, have in mind that you must be able to turn the tower into the pen. You might have to select a start position further back so you can turn the tower in to the pen, then running the robot forward, to the centre of the pen. If you have a pipe that is unfortunately placed, you must work with the angles and range of motions that it gives you.+For a floor program, start from the marker and [[:prog:screen_guide_step_by#start_position|select a start position]] so that the tower is in the center of the pen (if possible due to pipes). When selecting the start position, have in mind that you must be able to turn the tower into the pen. You might have to select a start position further back so you can turn the tower in to the pen, then running the robot forward, to the centre of the pen. If you have a pipe that is unfortunately placed, you must work with the angles and range of motions that it gives you.
  
 The following illustrations demonstrate when the slat is on the opposite side of the robot. If you have the slat by the robot, start from the other end of the pen so you push the dirt against the slat. The illustrations to come are basic movements for you to apply to any type of pens. The following illustrations demonstrate when the slat is on the opposite side of the robot. If you have the slat by the robot, start from the other end of the pen so you push the dirt against the slat. The illustrations to come are basic movements for you to apply to any type of pens.
Line 62: Line 62:
 ---- ----
  
-**Step 5:** Move the arm one “step” out so you can start a new circle. Make sure that you don’t move the arm too long, so you miss a line of dirt.\\+**Step 5:** Move the arm one “step” out so you can start a new circle. Make sure that you don’t move the arm too much. It could lead to a missed line of dirt.\\
 {{:fs5.png?direct&302x354}} {{:fs5.png?direct&302x354}}
  
 ---- ----
  
-**Step 6:** Turn the tower towards the wall. This is the start position of the tower sweep.\\+**Step 6:** Turn the tower towards the wall. This is the start of the tower sweep.\\
 {{:fs6.png?direct&400x246}} {{:fs6.png?direct&400x246}}
  
Line 75: Line 75:
 {{:snakeroad.jpg?direct&350x249|snakeroad.jpg}}\\ {{:snakeroad.jpg?direct&350x249|snakeroad.jpg}}\\
 //Credit: [[https://www.facebook.com/pg/CalinStanPhotography/photos/?tab=album&album_id=10156196234743926#|@CalinStanPhotography ]]// //Credit: [[https://www.facebook.com/pg/CalinStanPhotography/photos/?tab=album&album_id=10156196234743926#|@CalinStanPhotography ]]//
-  * 1. Turn the nozzle straight away from the robot/down (or towards the robot, depending which way you are pushing the dirt). +  * 1. Turn the nozzle straight away from the robot/down (or towards the robot, depending which way you are pushing the dirt). Keyword, nozzle straight. 
-  * 2. Sweep with the tower.+  * 2. Sweep with the tower when nozzle is straight. Stop the sweep with good margins to the wall.
   * 3. Always end the sweep with the nozzle outwards.   * 3. Always end the sweep with the nozzle outwards.
   * 4. Then run one “step” out with the arm while the nozzle still points outwards.   * 4. Then run one “step” out with the arm while the nozzle still points outwards.
Line 172: Line 172:
 ---- ----
  
-**Step 20:**  Continue with arm out and sweep with tower until the arm is in a position where the water loses its impact on the floor. Then run the nozzle all around so the water goes down towards the floor and continue out with the arm to a position so you can contine with the tower sweeps.+**Step 20:**  Continue with arm out and sweep with tower until the arm is in a position where the water loses its impact on the floor. Then run the nozzle all around so the water goes down towards the floor and continue out with the arm to a position so you can continue with the tower sweeps.
  
 <font 12pt/inherit;;inherit;;inherit>Adjust the distance to the floor with the boom if you want to get closer/further away. Then sweep with tower. The more you run the arm out, the further away from the floor you get. Adjust the height with boom downwards.</font> <font 12pt/inherit;;inherit;;inherit>Adjust the distance to the floor with the boom if you want to get closer/further away. Then sweep with tower. The more you run the arm out, the further away from the floor you get. Adjust the height with boom downwards.</font>
  
 <font 12pt/inherit;;inherit;;inherit>To reach the back-wall corner you might have to have the boom/telescope/arm in a diagonal position downwards for maximum reach. As always, take a new position, make a sweep, end with nozzle outwards.</font> \\ {{:fs21.png?direct&360x398}} <font 12pt/inherit;;inherit;;inherit>To reach the back-wall corner you might have to have the boom/telescope/arm in a diagonal position downwards for maximum reach. As always, take a new position, make a sweep, end with nozzle outwards.</font> \\ {{:fs21.png?direct&360x398}}
 +
 +If your robot is equipped with the double nozzle you can reach up to 6 meters. [[:prog:double_nozzle|Go to the double nozzle instruction to see how to use it. ]]
  
 ---- ----