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prog:floor_program [2020/09/14 04:32] – [Floor program] joachimprog:floor_program [2020/09/15 05:43] (current) – joachim
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 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]]. 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]].
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-{{:prog:robotsmovements.png?direct&600x298}} 
  
 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.]]** __
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 ===== General information ===== ===== General information =====
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 ===== 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.
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-**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}}
  
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-**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}}
  
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 {{: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.