Monitoring robot position in IRC5 (with Multitasking)

[raulrbs]

Hello.
I want to set an output whenever the robot is at certain positon. I can't use WorldZones  because I will use more than 20 zones (20 outputs).

So I don't know if I can use a SemiStatic Background Task that continually gets the position by cPos or cRobT, and then compare it to some position constants. If the position is within a desired limit, then set an output.

Is this possible or am I missing something? Any ideas?

Thanks for your help.

Raul R.

[luetin]

That could work, but I don't know how accurate it would be, you'll have to test that. CPU load could probably be pretty high as well if you do the position check often.

Can you set position flags in the main program instead? Like position:="zone1" and then just monitor that variable from a background task and set outputs accordingly?

[SkyeFire]

I've tried something slightly similar to that in the past, but it didn't work too well -- CPos() and CRobT() seem to be vulnerable to the path planner look-ahead if you're trying to capture positioning on the fly.  However, I did not pursue the matter very far, so there may well be a solution. 

[Midwest Tech]

Does the output have to be set even if you're jogging the robot? If not, I would think MoveLDO/MoveJDO would work well for setting outputs while the program is running.

[raulrbs]

Thank you very much for your help.

I don't have the system right now, so I can't test anything. But at least I want to have many ways to attack the problem.