- #Frc driver station view user program output update#
- #Frc driver station view user program output windows#
RunInstruction ( ins_call, INSTRUCTION_CALL_PROGRAM ) # Advance one additional instruction as we just added another instruction ins_id = ins_id + 1 ins_count = ins_count + 1 ins_id = ins_id + 1 InstructionSelect ( ins_id ) # Add a new program call prog. Instruction ( ins_id ) if ins_type = INS_TYPE_MOVE : # Select the movement instruction as a reference prog. InstructionCount () while ins_id < ins_count : # Retrieve instruction ins_nom, ins_type, move_type, isjointtarget, pose, joints = prog. Name ()) ins_call = mbox ( "Enter a program call to add after each movement", entry = "SynchRobot" ) if not ins_call : print ( "Operation cancelled" ) quit () # Iterate through all the instructions in a program: ins_id = 0 ins_count = prog. Valid (): print ( "Operation cancelled or no programs available" ) quit () # Ask the user to enter a function call that will be added after each movement: print ( "Program selected: " + prog. ItemUserPick ( "Select a Program to modify", ITEM_TYPE_PROGRAM ) if not prog. ShowMessage ( msg_str )Įxample 2 - Program flow, manage inputs/outputs and program calls:įrom robolink import * # API to communicate with RoboDK from robodk import * # basic matrix operations RDK = Robolink () # Ask the user to select a program: prog = RDK.
#Frc driver station view user program output update#
Update ( check_collisions ) # Retrieve the result n_insok = update_result time = update_result distance = update_result percent_ok = update_result * 100 str_problems = update_result if percent_ok %s ( %.1f ): %s " % ( program_name, percent_ok, str_problems ) else : msg_str = "No problems found for program %s " % program_name # Notify the user: print ( msg_str ) RDK. # Set collision checking ON or OFF check_collisions = COLLISION_OFF # Update the path (can take some time if collision checking is active) update_result = program. Render ( True ) #- # Update the program path to display the yellow path in RoboDK. ShowTargets ( False ) # Turn rendering ON before starting the simulation (automatic if we are done) RDK. # Right click the movement instruction and select "Select Target" to see the target in the tree program. MoveL ( ti ) # Hide the target items from the tree: it each movement still keeps its own target. setAsCartesianTarget () # Add the target as a Linear/Joint move in the new program prog. setPose ( pose_ref ) # force to use the target as a Cartesian target (default) ti. AddTarget ( 'Auto Target %i ' % ( i + 1 )) # use the reference pose and update the XYZ position pose_ref. Pose () # Iterate through a number of points for i in range ( len ( POINTS )): # add a new target ti = RDK. ShowInstructions ( False ) # Retrieve the current robot position: pose_ref = robot. AddProgram ( 'AutoProgram' ) # Hide program instructions (optional, but faster) prog. CloseRoboDK () # Example command line arguments: # -NEWINSTANCE: Forces using a new instance # -NOUI: Run RoboDK behind the scenes (without OpenGL context) # -SKIPINI: Skip using RoboDK's INI settings (global settings), this provides a faster startup # -EXIT_LAST_COM: Exit RoboDK when the last API client connected closes # -DEBUG: Run in debug mode (outputs information in the console) # Follow these steps to see an extended list of command line arguments: # 1- Select Tools-Run Script # 2- Select ShowCommands # More information here: # ItemList () for item in list_items : print ( item. setPose ( transl ( 100, 200, 300 ) * rotz ( pi / 2 )) # Retrieve all items and print their names (just a reference frame) list_items = RDK.
#Frc driver station view user program output windows#
It defaults to RoboDK’s default path (C:/RoboDK/bin/RoboDK.exe on Windows or /Applications/RoboDK.app/Contents/MacOS/RoboDK on Mac)įrom robolink import * # Connect to the RoboDK API RDK = Robolink ( args = ) # Add a reference frame RDK.
Robodk_path ( str) – RoboDK installation path.
Arguments have no effect if RoboDK is already running.įor more information: RoboDK list of arguments on startup. Port ( int) – Port of the RoboDK API server (default=None, it will use the default value)Ĭommand line arguments to pass to RoboDK on startup (for example: ‘/NOSPLASH /NOSHOW’ should be passed as args= to not display RoboDK). Robodk_ip ( str) – IP of the RoboDK API server (default=’localhost’) An item is an object in the robodk tree (it can be either a robot, an object, a tool, a frame, a program, …). Any interaction is made through “items” (Item() objects). The Robolink class is the link to to RoboDK and allows creating macros for Robodk, simulate applications and generate programs offline. Robolink ( robodk_ip = 'localhost', port = None, args =, robodk_path = None, close_std_out = False ) ¶
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