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prog:screen_guide_step_by [2020/12/10 22:50] – [10. Start position] joachimprog:screen_guide_step_by [2026/09/08 23:32] (current) – external edit 127.0.0.1
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 ===== 2. Settings ===== ===== 2. Settings =====
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 ===== 3. Teach a new location or program ===== ===== 3. Teach a new location or program =====
  
-In this step, choose if you want to make a new location or a new program. Go to step **1. **if you want to make a new location. Go to step **2.** if you want to make a new program in an already existing location.+In this step, choose if you want to make a new location or a new program. Go to step **1. **if you want to make a new location. Go to step **2.**  if you want to make a new program in an already existing location.
  
-   - To create a new location, press on the purple button at the bottom; "**New location**". +  - To create a new location, press on the purple button at the bottom; "**New location**". 
-      - //New location means that the robot will read where the markers are and measure the total distance. Prepare the number of markers you need and make sure that the marker brackets are in the same place at each pen. \\ <font inherit/inherit;;#ffffff;;inherit>.</font>//+      - //New location means that the robot will read where the markers are and measure the total distance. Prepare the number of markers you need and make sure that the marker brackets are in the same place at each pen. \\ //
   - To create a new program in an already existing location; select the existing location by tapping on the location name in the list //(blue text = selected). //   - To create a new program in an already existing location; select the existing location by tapping on the location name in the list //(blue text = selected). //
       - Then confirm with the green checkmark {{:greencheckmark.png?nolink&40x20}}at the bottom right corner.       - Then confirm with the green checkmark {{:greencheckmark.png?nolink&40x20}}at the bottom right corner.
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 ===== 4. Name the location ===== ===== 4. Name the location =====
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 You do also have the option to choose if you want to use virtual markers. If you only using physical markers and don't use virtual markers, go directly to step** 2)**. You do also have the option to choose if you want to use virtual markers. If you only using physical markers and don't use virtual markers, go directly to step** 2)**.
- +  - If you want to use virtual markers, press the grey button "**virtual markers**" before naming the location. 
-   - If you want to use virtual markers, press the grey button "**virtual markers**" before naming the location. +      - To learn more about virtual markers, read the document "**__[[:prog:programming_support#virtual_markers|Virtual markers]]__**  ".
-      - To learn more about virtual markers, read the document "**__[[:prog:programming_support#virtual_markers|Virtual markers]]__** ". \\ <font inherit/inherit;;#ffffff;;inherit>.</font>+
   - Press the **green square **and name the location. Confirm with “**Enter**”   - Press the **green square **and name the location. Confirm with “**Enter**”
-      - //<font 14px/inherit;;inherit;;inherit>If you have rooms that are identical, you can use the same location for all of them as long as you place the markers same in all of the rooms. Example: You have 6 rooms. You can name them for example to "Room 1-6". Alternatively, "Room 1-3" and the next location to "Room 4-6" If these rooms are mirror-facing or in any other way differ to the others. "Room 1-4,6" is another option if just "Room 5" differs. If so, "Room 5" will have its own location.</font>//+      - //If you have rooms that are identical, you can use the same location for all of them as long as you place the markers same in all of the rooms. Example: You have 6 rooms. You can name them for example to "Room 1-6". Alternatively, "Room 1-3" and the next location to "Room 4-6" If these rooms are mirror-facing or in any other way differ to the others. "Room 1-4,6" is another option if just "Room 5" differs. If so, "Room 5" will have its own location.//
 {{:11_build_map_g1.png?direct&399x239}} {{:11_build_map_g1.png?direct&399x239}}
  
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 +===== 5. Guidance wheels =====
  
-===== 5. Side wheels ===== +Place the guidance wheels manually towards the wall where the markers are placed at. Pull the back wheel straight back to unlock. Push the back wheel forward to lock it in the angle you are satisfied with. The magnetic-sensor shall also be pointed towards the markers!
- +
-Place the side wheels manually towards the wall where the markers are placed at. Pull the back wheel straight back to unlock. Push the back wheel forward to lock it in the angle you are satisfied with. The magnetic-sensor shall also be pointed towards the markers!+
  
-When the side wheels are angled the robot going to drive in that direction and be close to the markers.+When the guidance wheels are angled the robot going to drive in that direction and be close to the markers.
  
-  - Select if the side wheels shall steer to the **left**  or **right**.+  - Select if the guidance wheels shall steer to the **left**  or **right**.
       - Confirm with ”**OK**”.       - Confirm with ”**OK**”.
  
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 ===== 6. Number of markers ===== ===== 6. Number of markers =====
  
-Before you begin the following steps, make sure that the robot is positioned correctly in the aisle. That the side wheels are in the right direction (towards the markers); the magnetic-sensor is placed before the first marker (up to 1 m before); that the magnetic-sensor points towards the markers (left or right); and that the magnetic-sensor is adjusted so it can sense the markers (max 10 cm from the marker).+Before you begin the following steps, make sure that the robot is positioned correctly in the aisle. That the guidance wheels are in the right direction (towards the markers); the magnetic-sensor is placed before the first marker (up to 1 m before); that the magnetic-sensor points towards the markers (left or right); and that the magnetic-sensor is adjusted so it can sense the markers (max 10 cm from the marker).
  
 How many physical markers are placed in the aisle? How many physical markers are placed in the aisle?
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   - Tap the **green square **to enter how many physical markers there is in the aisle.   - Tap the **green square **to enter how many physical markers there is in the aisle.
       - Enter the number of physical markers then "**Enter**".       - Enter the number of physical markers then "**Enter**".
-        - If you are using **__[[:prog:programming_support#virtual_markers|Virtual markers]]__** , you must enter the number of physical markers (do not count with the virtual markers) you have set up in the aisle.+        - If you are using **__[[:prog:programming_support#virtual_markers|Virtual markers]]__**  , you must enter the number of physical markers (do not count with the virtual markers) you have set up in the aisle.
   - Now you will see the "**OK**"-button in the bottom right corner.   - Now you will see the "**OK**"-button in the bottom right corner.
  
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 ===== 7. Count markers ===== ===== 7. Count markers =====
  
-Now that the robot has begun to drive forward, **it’s ****important to follow the robot all the way down the aisle** to make sure the sensor senses all the markers.+Now that the robot has begun to drive forward, **it’s important to follow the robot all the way down the aisle**  to make sure the sensor senses all the markers.
  
-The blue symbol in the upper left corner {{:markersensor.png?direct&40x40}}means that the sensor detects a marker (or something else that’s magnetic).\\+The blue symbol in the upper left corner {{:markersensor.png?direct&40x40}}means that the sensor detects a marker (or something else that’s magnetic). \\
 The yellow square shows how many markers the robot have sensed. The yellow square shows how many markers the robot have sensed.
  
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 ===== 8. Create a program ===== ===== 8. Create a program =====
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 {{:10_settings.png?direct&390x234}}{{:7_file_browser_f1.png?direct&390x234}} {{:10_settings.png?direct&390x234}}{{:7_file_browser_f1.png?direct&390x234}}
 +
 +If you want to remake a program, [[:remake_program|click here.]]
  
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 Examples of names are: "**Floor Right, Floor Left, Wall Right, Wall Left**" etc. Examples of names are: "**Floor Right, Floor Left, Wall Right, Wall Left**" etc.
  
-Note that the robot shall now be positioned **in front of** the marker you have planned to do the programming at. +Note that the robot shall now be positioned **in front of**  the marker you have planned to do the programming at. 
- +  - Tap the **green square **and give the program a name. Confirm with “**ENTER”**. \\ - When confirming with **"ENTER"**, the robot will run forward and search for the marker. 
-   - Tap the **green square **and give the program a name. Confirm with “**ENTER”**. \\ <font inherit/inherit;;#ffffff;;inherit>.</font>- When you have given the program a name there will be an ”**OK**”-button in the bottom right corner. When you press "**OK**", the robot will run forward and search for the marker. +      - //Make sure that you are placed in front of the marker before you confirm the program name.//
-      - //Make sure that you are placed in front of the marker before you press ”OK”. //+
 {{:6_teach_init2.png?direct&400x246}} {{:6_teach_init2.png?direct&400x246}}
  
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 ===== 10. Start position ===== ===== 10. Start position =====
  
-Choose the desired position where the robot will start the program, so called **start position**.\\ +Choose the desired position where the robot will start the program, so called **start position**. \\ 
-By choosing a start position the robot knows how far to go from the marker. When the first program have finished, the robot will go** from** the position it had where the just finished program ended directly to the next programs start position. In other words, the robot doesn't have to go back to the marker for every program which means we save some movements driving back and forth. \\ +By choosing a start position the robot knows how far to go from the marker. When the first program have finished, the robot will go** from**  the position it had where the just finished program ended **directly to**  the next programs start position. In other words, the robot doesn't have to go back to the marker for every program which means we save some movements driving back and forth. \\  \\
-\\+
 Have in mind, when you are choosing a start position, take a position where you can rotate the tower without hitting any pipes or similar. Have in mind, when you are choosing a start position, take a position where you can rotate the tower without hitting any pipes or similar.
  
 You must also park all the functions at this step. You must also park all the functions at this step.
  
-  - You park the functions by pressing the "**Parking**"-button in the top left corner. Wait until the current function is parked. Then press the button again until all functions are parked. \\ //i. All functions are parked when the "Parking"-button disappears. \\ <font inherit/inherit;;#ffffff;;inherit>.</font>//+  - You park the functions by pressing the "**Parking**"-button in the top left corner. Wait until the current function is parked. Then press the button again until all functions are parked. \\ //i. All functions are parked when the "Parking"-button disappears. \\ //
   - You can now select the desired starting position. Press and hold the arrow "forward" to run the robot forward, arrow "backward" runs the robot backward. In this phase you can run the robot back and forth as much as you want. The robot will only register the last selected position.   - You can now select the desired starting position. Press and hold the arrow "forward" to run the robot forward, arrow "backward" runs the robot backward. In this phase you can run the robot back and forth as much as you want. The robot will only register the last selected position.
       - When you are satisfied with the positioning, press "**OK**".       - When you are satisfied with the positioning, press "**OK**".
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 ===== 11. Programming with joystick ===== ===== 11. Programming with joystick =====
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 If you haven't already had the joystick plugged in, plug it in now (under the hood on the right side of the tower). If you haven't already had the joystick plugged in, plug it in now (under the hood on the right side of the tower).
  
-**Remember to start with simple programs. Do not overdo the programs. The more you program with the joystick, the better you will become.**** Have a plan on where you will start and finish the program. Think through how you on the most efficient way can work your way to where you want to finish. **+**Remember to start with simple programs. Do not overdo the programs. The more you program with the joystick, the better you will become. Have a plan on where you will start and finish the program. Think through how you on the most efficient way can work your way to where you want to finish.**
  
 For more information on how to move the robot with the joystick, go to [[:prog:programming_support|]] and read the chapter [[:prog:programming_support#programming_-_how_to_move_the_robot|Programming - How to move the robot]]. For more information on how to move the robot with the joystick, go to [[:prog:programming_support|]] and read the chapter [[:prog:programming_support#programming_-_how_to_move_the_robot|Programming - How to move the robot]].
  
-  - The robot records every movement you do with the joystick once you see the joystick on the screen. You can always undo movements with the "**UNDO**" button on the screen or undo with the joystick by holding SHIFT 1 + SHIFT 2 then press WATER-button while holding SHIFT 1 and 2. \\ <font inherit/inherit;;#ffffff;;inherit>.</font> \\ <font inherit/inherit;;#ffffff;;inherit>.</font>- Keep in mind that you have the time to pause and think through every movement. There won't be any pauses when the robot runs your program automatically. \\ <font inherit/inherit;;#ffffff;;inherit>.</font> - Turn the water off via the joystick once you are satisfied with your program. \\ <font inherit/inherit;;#ffffff;;inherit>..</font> +  - The robot records every movement you do with the joystick once you see the joystick on the screen. You can always undo movements with the "**UNDO**" button on the screen or undo with the joystick by holding SHIFT 1 + SHIFT 2 then press WATER-button while holding SHIFT 1 and 2. \\  \\ - Keep in mind that you have the time to pause and think through every movement. There won't be any pauses when the robot runs your program automatically. \\ - Turn the water off via the joystick once you are satisfied with your program. 
-  - Once you have made all your movements and the water is switched off you must park (bring all functions back to start/parked position) all the functions by using the “**PARKING**”-button. \\ <font inherit/inherit;;#ffffff;;inherit>.</font> - **It's important**  that you think through and ensure before you press the "**Parking**" -buttons so the function you are going to park doesn't get stuck in anything on the way back to its parking position. \\ <font inherit/inherit;;#ffffff;;inherit>.</font> - The first function to be parked is the arm so adjust other functions (boom/telescope/tower) so that the arm can be parked without getting stuck (you can still run the joystick in between the parking sessions). Apply the same principles when you park other functions but be careful when parking the tower. You might have to move the robot backwards or forwards so the tower doesn't get stuck on pipes. \\ <font inherit/inherit;;#ffffff;;inherit>.</font>+  - Once you have made all your movements and the water is switched off you must park (bring all functions back to start/parked position) all the functions by using the “**PARKING**”-button. \\ - **It's important**  that you think through and ensure before you press the "**Parking**" -buttons so the function you are going to park doesn't get stuck in anything on the way back to its parking position. \\ - The first function to be parked is the arm so adjust other functions (boom/telescope/tower) so that the arm can be parked without getting stuck (you can still run the joystick in between the parking sessions). Apply the same principles when you park other functions but be careful when parking the tower. You might have to move the robot backwards or forwards so the tower doesn't get stuck on pipes.
   - When all functions are parked (“Parking”-button not visible), confirm with ”**OK**”.   - When all functions are parked (“Parking”-button not visible), confirm with ”**OK**”.
  
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 ===== 12. Create recipe ===== ===== 12. Create recipe =====
  
-Now that you've created one or more programs, you must add it/them to a recipe. Either in a new recipe or in an existing recipe.\\+Now that you've created one or more programs, you must add it/them to a recipe. Either in a new recipe or in an existing recipe. \\
 Go to Settings screen and then press ”**RECIPE**” (picture 1). Select the current location for which you created the programs for and for which you now want to create a recipe for (picture 2). Confirm the location with "**OK**"**. ** Go to Settings screen and then press ”**RECIPE**” (picture 1). Select the current location for which you created the programs for and for which you now want to create a recipe for (picture 2). Confirm the location with "**OK**"**. **
  
 {{:10_settings1.png?direct&300x181}}{{:7_file_browser1.png?direct&300x181}} {{:10_settings1.png?direct&300x181}}{{:7_file_browser1.png?direct&300x181}}
  
-**<font 16px/inherit;;inherit;;inherit>Picture 3: You can now choose whether you want to create a new recipe (step 1.) or edit an existing recipe (step 2.).</font>**+**Picture 3: You can now choose whether you want to create a new recipe (step 1.) or edit an existing recipe (step 2.).**
   - Press the **green square **to create a new recipe.   - Press the **green square **to create a new recipe.
       - Then give the recipe a name.       - Then give the recipe a name.
-        - //Name examples: If you for example just have created the programs "floor right" and "floor left" and want to create a recipe for these. Give the recipe the name 'floor' (contains only floor programs). It's the same thing for the wall programs. Give the recipe the name 'walls' (contains only wall programs). \\ <font inherit/inherit;;#ffffff;;inherit>.</font>//+        - //Name examples: If you for example just have created the programs "floor right" and "floor left" and want to create a recipe for these. Give the recipe the name 'floor' (contains only floor programs). It's the same thing for the wall programs. Give the recipe the name 'walls' (contains only wall programs). \\ //
   - To change an existing recipe. Press the "**EDIT EXISTING**"-button.   - To change an existing recipe. Press the "**EDIT EXISTING**"-button.
       - This means that you can add new programs or do general edits to an old recipe without making a new recipe every time.       - This means that you can add new programs or do general edits to an old recipe without making a new recipe every time.
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 ===== 13. Select programs for the recipe ===== ===== 13. Select programs for the recipe =====
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 This is where you tell for the robot what it shall do at each marker. In the middle of the screen you can see a gray square. This gray square tells you which marker you are at. The examples show that this location has 6 markers. These examples tell you how to create a new recipe. You use the same principles if you want to edit an existing recipe. This is where you tell for the robot what it shall do at each marker. In the middle of the screen you can see a gray square. This gray square tells you which marker you are at. The examples show that this location has 6 markers. These examples tell you how to create a new recipe. You use the same principles if you want to edit an existing recipe.
  
-  - Press ”**SELECT PROGRAM**”. \\ {{:3_recipe_build_b1.png?direct&400x252}} \\ <font inherit/inherit;;#ffffff;;inherit>.</font>+  - Press ”**SELECT PROGRAM**”. \\ {{:3_recipe_build_b1.png?direct&400x252}}
   - Select the program you want to place at this marker.   - Select the program you want to place at this marker.
       - Press "**OK**" to confirm the selected program. \\ //i. You can also copy programs from another location that would fit to your new location (if pens are identical and markers placed at the same positions in both rooms). You can copy programs if you choose "**CHANGE LOCATION**" at the bottom of the screen. \\       - Press "**OK**" to confirm the selected program. \\ //i. You can also copy programs from another location that would fit to your new location (if pens are identical and markers placed at the same positions in both rooms). You can copy programs if you choose "**CHANGE LOCATION**" at the bottom of the screen. \\
-   ii. Select the program you want to copy. \\ +   ii. Select the location you wish to copy program from.// \\ //iii. Select a program you wish to copy.// \\ //iiii. Repeat these steps (2.i., 2.ii and 2.iii.) to copy more programs.// \\  \\ //{{:7_file_browser_b1.png?direct&400x237}}// 
-   iii. Repeat these two steps (2.i. and 2.ii.) to copy more programs. {{:7_file_browser_b1.png?direct&400x237}} \\ <font inherit/inherit;;#ffffff;;inherit>.</font>// +  - Once you've chosen your program, place it on the position you want it to wash in. \\ //i. Have in mind that the robot will wash in numerical order. This means that you have to place the program you want the robot to start with (at the current marker) on the right side at position 1 and so on.// \\ {{:3_recipe_build_c1.png?direct&400x247}}
-  - Once you've chosen your program, place it on the position you want it to wash in.+
  
-i. Have in mind that the robot will wash in numerical order. This means that you have to place the program you want the robot to start with (at the current marker) on the right side at position 1 and so on. +4. You can add several different programs to the same marker. If you want to add more programs to this marker, repeat step 1-3.
- +
-  - {{:3_recipe_build_c1.png?direct&400x247}} +
- +
-You can add several different programs to the same marker. If you want to add more programs to this marker, repeat step 1-3.+
  
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 ===== 14. Add or remove programs at each marker ===== ===== 14. Add or remove programs at each marker =====
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 If you have all your programs placed in their recipes (floor programs in a floor recipe, wall programs in a wall recipe), you can start washing. Start by making sure that the robot's marker sensor is positioned about 30 cm behind the first marker (or behind that marker you want to start washing from) and adjusted so the sensor is maximum 10 cm away sideways from the marker. The robot can only start washing from physical markers. //The overview of the robot is a reminder for which side to set the support wheels to.// If you have all your programs placed in their recipes (floor programs in a floor recipe, wall programs in a wall recipe), you can start washing. Start by making sure that the robot's marker sensor is positioned about 30 cm behind the first marker (or behind that marker you want to start washing from) and adjusted so the sensor is maximum 10 cm away sideways from the marker. The robot can only start washing from physical markers. //The overview of the robot is a reminder for which side to set the support wheels to.//
- +  - On the start screen, press "**START**". \\ {{:1_home1.png?direct&400x240}} 
-   - On the start screen, press "**START**". \\ {{:1_home1.png?direct&400x240}} +  - Select the location you want to wash. Accept with {{:greencheckmark.png?nolink&40x20}} in the bottom right corner. \\ {{:7_file_browser2.png?direct&400x240}}
-  - Select the location you want to wash. Accept with {{:greencheckmark.png?nolink&40x20}}<font inherit/inherit;;#ffffff;;inherit>..</font>in the bottom right corner. \\ {{:7_file_browser2.png?direct&400x240}}+
   - Press "**SELECT RECIPE**". \\ {{:5_run1.png?direct&400x242}}   - Press "**SELECT RECIPE**". \\ {{:5_run1.png?direct&400x242}}
  
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 ===== 16. Start an automatic wash - Select recipes ===== ===== 16. Start an automatic wash - Select recipes =====
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   - Choose the recipe you want your wash to start with. \\ {{:7_file_browser_c1.png?direct&400x240}}   - Choose the recipe you want your wash to start with. \\ {{:7_file_browser_c1.png?direct&400x240}}
   - When you select a recipe, the recipe are added to a list. This list is yellow and shows the washing schedule/recipe queue. \\ {{:5_run_b1.png?direct&400x246}}   - When you select a recipe, the recipe are added to a list. This list is yellow and shows the washing schedule/recipe queue. \\ {{:5_run_b1.png?direct&400x246}}
-  - You can run the same recipe repeatedly. If you want to add more recipes to the queue, repeat the process you just did by pressing "**SELECT RECIPE**" again. Press "**DELETE RECIPE**" if you want to remove recipes from the queue. \\ +  - You can run the same recipe repeatedly. If you want to add more recipes to the queue, repeat the process you just did by pressing "**SELECT RECIPE**" again. Press "**DELETE RECIPE**" if you want to remove recipes from the queue. 
-    For example, you can select the recipes in this order: Floor, Floor and last Wall if you think the floors needs extra attention. See the example below. \\ {{:5_run_b2.png?direct&400x247}}+ 
 +For example, you can select the recipes in this order: Floor, Floor and last Wall if you think the floors needs extra attention. See the example below. \\ {{:5_run_b2.png?direct&400x247}}
  
 Make sure that the robot is positioned with the marker sensor in front of the first marker (up to 100 cm in front) before you press "**OK**". When you press the "**OK**"-button the robot will run forward to find the marker and start the automatic wash based on the recipe queue you have selected. Make sure that the robot is positioned with the marker sensor in front of the first marker (up to 100 cm in front) before you press "**OK**". When you press the "**OK**"-button the robot will run forward to find the marker and start the automatic wash based on the recipe queue you have selected.
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 The robot do now wash automatically according to the information you have given it. The robot do now wash automatically according to the information you have given it.
  
-  * In the middle of the screen you can **ENABLE**  so you will receive a text message when the wash is finished (press “**SMS WHEN FINISHED**” to enable/disable this function). But for that to work you must have entered your mobile number via the internet screen (step [[:prog:screen_guide_step_by#settings|2. Settings]]). \\ {{:5_run_c1.png?direct&400x246}}<font 11px/inherit;;inherit;;inherit>//Run mode.//</font>+  * In the middle of the screen you can **ENABLE**  so you will receive a text message when the wash is finished (press “**SMS WHEN FINISHED**” to enable/disable this function). But for that to work you must have entered your mobile number via the internet screen (step [[:prog:screen_guide_step_by#settings|2. Settings]]). \\ {{:5_run_c1.png?direct&400x246}}//Run mode.//
   * If you press “**STOP**” during an active wash, the robot will finish the program it has started and stop when the program has ended.   * If you press “**STOP**” during an active wash, the robot will finish the program it has started and stop when the program has ended.
-  * You can pause the wash with "**PAUSE**". In paused mode, you can also make temporary changes to the current recipe. \\ {{:5_run_d1.png?direct&400x236}}//<font 11px/inherit;;inherit;;inherit>Paused mode.</font>//+  * You can pause the wash with "**PAUSE**". In paused mode, you can also make temporary changes to the current recipe. \\ {{:5_run_d1.png?direct&400x236}}//Paused mode.//
   * To cancel the wash immediately, press "**PAUSE**" and then "**STOP**".   * To cancel the wash immediately, press "**PAUSE**" and then "**STOP**".
   * Use the **emergency stop (the big red button on the robot, under the screen) **to stop the robot in unexpected situations.   * Use the **emergency stop (the big red button on the robot, under the screen) **to stop the robot in unexpected situations.