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prog:floor_program [2020/09/15 05:32] – joachim | prog:floor_program [2020/09/15 05:43] (current) – joachim | ||
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- | **Step 6:** Turn the tower towards the wall. This is the start position | + | **Step 6:** Turn the tower towards the wall. This is the start of the tower sweep.\\ |
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//Credit: [[https:// | //Credit: [[https:// | ||
- | * 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. |