Freeze the AMR of the Mobile Robot Controller

Python Programming
1

Hello all

The task is simple but i’ve failed to achieve it…
I’ve tried looking at how the software works for releasing the AMR based on the flow and the “PickTime” of that variable… However when I try and make it “event based” (eg. a release signal from a OPC-UA connection from like a Behavior instead of the current “timer based”), it does not work…
I havent posted what i tried to do because i think im not on track… Have someone perhaps done a similar thing or could give me a clue how to change the lines in the python script to react on a signal rather than the timer?

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2

Something like this?

def place(component, dest_container, dest_prod_wpm, place_time, assisted=False, unload_assisting=None):
  global robo
  if place_time < 0.0: 
    place_time = 0.0

  slot = pattern_manager.find_slot(component)
  if slot:
    slot.component = None # release slot

  offset_mtx = component.Product.ProductType.OriginFrame
  if offset_mtx != IDENTITY_MTX:
    offset_mtx.invert()
    dest_prod_wpm *= offset_mtx

  component.update()
  if not robo and slot and slot.pattern.keep_orientation:
    dest_prod_wpm.WPR = component.WorldPositionMatrix.WPR

  if assisted:
    dest_container.OnTransition = activate_trigger
    action_manager.pre_process_trigger(add_capacity=0)
    ready_p = action_manager.assist_ready_p
    ready_p.Value = True
    triggerCondition(lambda: component in dest_container.Components)
    dest_container.OnTransition = None
    ready_p.Value = False
    action_manager.post_process_trigger()
    return

  USE_SIGNAL_FOR_PLACING = True
  my_release_signal = comp.findBehaviour("MyReleaseSignal")
  if USE_SIGNAL_FOR_PLACING:
    triggerCondition(lambda: my_release_signal and my_release_signal.Value)
  else:
    if comp.SimulationLevel == VC_SIMULATION_DETAILED and sim.SimSpeed < place_time*10:
      if robo:
        pick_wpm = component.WorldPositionMatrix
        comp_bd = component.BoundDiagonal
        robo.Configuration = robot_config_prop.Value
        robo.jointMoveToMtx(pick_wpm, Tz=comp_bd.Z*2.0 + 50.0, Rx=180.0)
        robo.jointMoveToMtx(pick_wpm, Tz=comp_bd.Z*2.0, Rx=180.0)
        robo.graspComponent(component)
        robo.jointMoveToMtx(pick_wpm, Tz=comp_bd.Z*2.0 + 50.0, Rx=180.0)
        robo.jointMoveToMtx(dest_prod_wpm, Tz=comp_bd.Z*2.0+50.0, Rx=180.0)
        robo.jointMoveToMtx(dest_prod_wpm, Tz=comp_bd.Z*2.0, Rx=180.0)
        action_manager.pre_process_trigger(unload_assisting)
        dest_container.grab(component)
        action_manager.post_process_trigger()
        robo.jointMoveToMtx(dest_prod_wpm, Tz=comp_bd.Z*2.0+50.0, Rx=180.0)
        robo.driveJoints(*robot_home_joint_vals)
        return
      else:
        obj_itp = ObjectInterpolator(component, dest_prod_wpm, dest_container, place_time, grab_to_world=False)
        obj_interp_manager.add(obj_itp)
        obj_interp_manager.wait_to_complete(obj_itp)
    else: 
      delay(place_time)

  world_container.grab(component)
  component.PositionMatrix = dest_prod_wpm
  
  action_manager.pre_process_trigger(unload_assisting)
  dest_container.grab(component)
  action_manager.post_process_trigger()
1 Like
3

Exactly like that!
Big thanks for that simple solution, a huge help in my application!

4

@Este Is it possible to apply this same approach to a “move” or “transport” function?

I.E. Mobile robot collects a product and begins moving towards the deliver transport node. However the AMR stops in place when a signal is triggered?

Thanks.