Robotino® View2 - Festo Didactic

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Using Robotino® View 24 packages. Additionally the file Packages.gz is copied. It contains package informations. Initially, the script pkginstall.sh modifies /etc/apt/sources.list and enters the directory /home/ robotino/.packages as only package source. Then apt-get is used to install the packages. pkgremove.sh forces removal of packages. startOpenRobotino1.sh is invoked to restart the Robotino deamons. 4 Examples 4.1 Control programs In this chapter a simple control program with alternative branches is realized. 4.1.1 Tutorial 2 This exercise shows how a control program with alternative branches is created. The complete program is located int the file examples/sfc/tutorial2.rvw2. The complete control program looks as shown in figure 1. © Festo Didactic GmbH & Co. KG
Fig. 1: the complete control program Examples In Step1 the value of a is changed. Thus in every cycle of the program one of the Steps Step2, Step3 and Step4 will be executed. Step5 compares the results produced by the previous steps. After the 6th execution of Step5 the program is stopped. Otherwise it continues with Step1. Create a new project Create a new project by selecting File New pressing Ctrl + N selecting the symbol for creating a new project in the tool bar . The main program contains the steps Init and Step1. Create global Variables First, create the following global variables 14 : timer a b step2count step3count step4count step5count Assign the initial value -1 to "a". All other variables keep their initial value 0. Program Step1 In this sub-program the global variable "a" is incremented by 1. To make sure that the value of "a" is always between 0 and 2, "a" will be calculated Modulo 3 and rewritten to "a". The value of "b" will just be set 0. © Festo Didactic GmbH & Co. KG 25
Page 1: Robotino® View2 EN
Page 5 and 6: Inhalt / Contents / Contenido / Som
Page 7 and 8: 6.5 Local _________________________
Page 9 and 10: 1.3 Changing language Welcome Robot
Page 11 and 12: 2.1.2 Function block library Famili
Page 13 and 14: 3.3 Insert function blocks into sub
Page 15 and 16: Using Robotino® View You can see t
Page 17 and 18: 3.9 Keyboard shortcuts Function Key
Page 19 and 20: 3.12.1 Browse Robotino Using Roboti
Page 21 and 22: Using Robotino® View After clickin
Page 23: 3.13.1 Robotino firmware installati
Page 27 and 28: Examples To do that, select the ent
Page 29 and 30: To add a new step after the alterna
Page 31 and 32: 4.2.1 Multiplexer 4.2.2 FlipFlop 5
Page 33 and 34: 5.1.1.1 Dialog 5.1.1.2 Example Func
Page 35 and 36: Step2 is also 10s active. 5.1.2 Cou
Page 37 and 38: 5.1.3.2 Example see also Examples L
Page 39 and 40: 5.1.5.1 Dialog 5.1.5.2 Example Inpu
Page 41 and 42: 5.1.6.1 Dialog 5.1.6.2 Example 5.1.
Page 43 and 44: 5.1.8 NAND_FL Function block librar
Page 45 and 46: 5.1.9.1 Dialog 5.1.9.2 Example 5.1.
Page 47 and 48: Inputs Type Defau lt Input 1 bool f
Page 49 and 50: 5.1.14 Sample and hold element Func
Page 51 and 52: 5.2.1.3.1 Dialog 5.2.1.4 Subtractio
Page 53 and 54: 5.2.1.5.1 Dialog 5.2.2 Comparison O
Page 55 and 56: 5.2.2.6 Greater The Output is true,
Page 57 and 58: Function block library Adding point
Page 59 and 60: 5.2.3.3.1 Dialog 7 Outputs Output f
Page 61 and 62: 5.2.4 Arrays The mapping here is y(
Page 63 and 64: Array float empty Array to be acces
Page 65 and 66: 5.3.1.3.1 Dialog 5.3.1.4 Norm ... S
Page 67 and 68: 5.3.2.3 Addition Per element additi
Page 69 and 70: 5.3.3.5 Rotate lt x float 0 x compo
Page 71 and 72: 5.4.1.1 Dialog Function block libra
Page 73 and 74: 5.5.1.1 Dialog ButtonDescription /
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5.5.1.2 Example Function block libr
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5.5.2.1 Dialog Selected segment Min
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5.5.3.1 Dialog Function block libra
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5.5.4.1 Dialog Output imag e Functi
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5.5.5.1 Dialog 5.5.5.2 Example Höh
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5.6.1.1 Dialog The upper part of th
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5.6.3 Timer Outputs Value float, in
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5.8 Navigation This category compri
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Function block library angular velo
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5.8.2 Constant pose In the input bo
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5.8.4.1 Dialog 5.8.5 Path composer
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Function block library Length int 1
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5.8.7.2 Configuration dialog 2 Func
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5.8.7.4 Path view Function block li
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5.8.7.5 Strategy Function block lib
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5.8.7.6 Example 5.8.8 Obstacle avoi
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5.9.1.1 Dialog vx float Velocity in
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In the dialog the slider's range an
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5.10.1.2 Example 5.10.2 Image Write
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6.1 Add and edit Devices When creat
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6.3.2 Dialog manager. The function
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6.3.3.1.1 Dialog Parameter Descript
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Outputs m1 float rpm Speed set-poin
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Devices © Festo Didactic GmbH & Co
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The values of the transfer function
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6.3.3.4 I/O connector 6.3.3.4.1 Rel
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output is 0V. The connector for dig
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Outputs Type Description Devices Va
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Inputs Type Unit Defa ult Room numb
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6.3.3.5.2 Dialog Spot A Intensity o
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Via the boolean constant (true/fals
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Closed bool True if the gripper rea
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Read the position of a joystick's a
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6.5.2.1.1 Dialog The camera dialog
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DI_Port_1 digital Input 1 DI_Port_2
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Bit 0 bool If true the value send t
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Devices © Festo Didactic GmbH & Co
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At server side the communication ch
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6.7.2.1 Dialog Devices Server addre
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6.8.1.1 Checksum If the message is
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6.8.2 Dialog 8-11 INT1 of type INT3
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Devices The writer takes the data t
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Programming The input value "in" is
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- A - ABS 55 absolute value 55 add
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