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Hi Arciera,

I think i miss the pdf.

The teach in mode is as you pointed out. Forget about record feature for now.

Normally:
You jog to a position then the program point can be recorded. Then you jog to next position and record the next program point.
This is just as you pointed out.

When storing a program point i want to define values like :
1. What is the type of movement, is it a rapid, a 3d line, an 3point arc, a 3point(+) spline? Or is it teaching in a workframe?
2. Is it a startpoint, waypoint or endpoint of the above geometry, or is it a workframe point like a workframe origin?
3. What is the speed and vel of this move and if its a endpoint what must be the end velocity?
4. Must there be set a output or wait for input?

So far as i can see, this is a usuall way of teaching the robot program.

Every stored point can be edited by scrolling to it.

And you don't have to start alll over again. You can simply
start at a certain program line (teached point) and move to robot to it to edit the point.

I guess what I cannot get my head around is how PROGRAMMING is actually going to look like in your application and how the "teach-in" function can be useful TOGETHER with the programming.

This is something to think about. To prevent myself from writing every possible procedure or function i am thinking about
something more universal.

For example. If you want to make a palletizing program in "workframe_pallet".
The procedure look like :
1. Teach in pallet workframe. This new workframe will be added to combobox automaticly.
2. Move robot to pallet, and teach in the first product with gripper open, then teach in gripper closed with waitfor gripper closed signal, then teach in a relative z offset of 200mm.
( The above teached points are applied to the pallet workframe during teaching, this is selectable in combobox. )
3. Make a (int) counter for x and make a (int) counter for y each time you visit the pallet workframe, and apply xy offsets.

Now how would we code that into the gui?
1. We can teach in workframe, that is done by selecting a few comboboxes.
2. We can teach in points, set grippers etc. no problem. We do this by selecting a few combo boxes.
3. Create x,y offsets with a counter and apply these offsets to a certan previous program (Line) point or say coordinate.

To prevent myself from coding various templates, i thought what if a user can input some c code into a teach-in program line.

Say you have a pallet.comp (c file that is going to be compiled automaticly by gui)
input value counter int : x_counter, y_counter
input value offset float : x_offset, y_offset
output value position float : x_pos, y_pos
Function routine : if x_counter==5, y_counter++.

With above code you can imagine a working pallet program.

At some point you have to stitch the above code into the program.

1. You or the gui can load the compiled pallet.com => pallet.so.
2. When doing a teach-in you can select a combobox named "Function". Inside that you pick the value "pallet.x_counter".
Then in second combobox you can set the "Increment value". For example "1";
3. During teach-in when you want to use position's produced by the component, like value : pallet.x_pos you select this
pos from combobox input.
4. Maybe think about a tree widget program structure? I can imagine you want to insert a complete subprogram at once.

Hi Arciera,

The most fundamental question I still have about your application is what the programming SYNTAX is going to look like.
It would be c style. But you only need it when you need to write complex program's.Compiling, loading etc is done by the gui framework.
So you don't have to install qt creator.
A syntax like python is a no go for me.
A syntax like g-code can be applied in the future. I already have a postprocessor to converse gcode into primitives like arc, line, etc wich can be converted to something the robot can work with later on.

That would be very useful as those softwares can usually detect collisions by use of STL models of the robot and it's environment. Inside the opencascade we have this option already. Can be implemented in future.

The used syntax will also be important to anybody who wants to write a PostProcessor for third party software (eg roboDK) to create programs for their robots.
Program's like robotDK are not compitible. It can not read in a function call to a realtime module and show what is going on. Ok. I plan to setup a short example how the program syntax will look like.

[Edit]
my syntax proposal.


next picture :

next picture :


I tested creating a variable when the gui is running, named "testposx" of type float.
It is directly loaded into hal and usable by program.

Now looking to implement the useage of c code.

Hi,

Creating and using c code in the robot program is tested ok.
It was a tiny puzzle to solve.

My implementation proposal :


What the implementation produces and compiles behind the screen looks like :


What here is done, is more orr less a administrative task. It looks like halmodule refining.
4 lines of code is not bad to load pure c code.

At last a few one liners for fun :


Now building up the treewidgets in the touch screen, will start with the most difficult one, adding c code :

Hi Arciera,

Yes, you got it. I see your rapid move example has a initial velocity and a end velocity of 20.
If i see your example, i understand the syntax at first sight. The software know's what to do with these lines.
No need to choose mode.

Do you have a working robot halfile for mesa already?

Is it possible to simulate the program before running it on the physical robot using a graphical STL model?
Yes, it has the opencascade simulator in the touch screen tab. Later on i will finish that implementation.
I will be super easy to setup your robot model trough the touch screen mode.

For info:
The final programming line wich will be stored in the 1ms files are auto-completed during preprocessing.
I am really excited when i do a first run on real hardware. It will take some time to work trough the project now.

Hi,

Ok, i will look at your hal file and report back.

Update,

The gui makes component with one buttonclick and loads it into the kernel.