Karel program - help

[cosva]

Hi!

I'm new to Karel. I'm writing Karel in Roboguide version 6.40 Rev H, Build Id 6.40.72,86.
The robot which I'm programming is a LRMate200iC, an the controller is R-30iA.
I wrote an simple Karel program in Roboguide:

PROGRAM test
VAR
p1,p2 : XYZWPR
x, y, z, w, p, r,a,b : REAL
config_var : CONFIG
indx,i: INTEGER
STATUS:INTEGER
BEGIN
  $MOTYPE = JOINT
  CNV_STR_CONF('nut', config_var, STATUS)
  p2 = POS(500, 0, 0, -180, 0, 0, config_var)
  $GROUP[1].$UFRAME=p2
  p2 = POS(0, 0, 150, 0, 0, 0, config_var)
  $GROUP[1].$UTOOL=p2
  $SPEED = 200
  x = 0
  y = 0
  z = 150
  w = 0
  p = 0
  r = 0
  a = 300
  b = 600
  CNV_STR_CONF('nut', config_var, STATUS)
  p1 = POS(x-a/2, y+b/2, z, w, p, r, config_var)
  MOVE TO p1
  $MOTYPE = LINEAR
  FOR i=1 TO 4 DO
        $SPEED = 150+i*80
        $TERMTYPE=NODECEL
      p1 = POS(x-a/2, y+b/2, z, w, p, r, config_var)
      MOVE TO p1   
      p2 = POS(x+a/2, y+b/2, z, w, p, r, config_var)
      MOVE TO p2 NOWAIT
      p2 = POS(x+a/2, y-b/2, z, w, p, r, config_var)
      MOVE TO p2
      p2 = POS(x-a/2, y-b/2, z, w, p, r, config_var)
      MOVE TO p2
      MOVE TO p1
      z=z-100       
      DELAY 250
  ENDFOR
END test

And when I run a simulation in Roboguide it works.
Now I'm trying to export the program to the robot controller but with no luck.
I select the Karel program (the PC file) and I load it to the robot and it all goes well.
On the ftp:\\192.168.2.27 where the robot is on the network I can see three files created - an test.PC file, and two more files with same name but different extension.
On the http:\\robot_adress in the part with other files i can see my program.
So I go to all the programs with the iPendant (I press select) and my program test.PC is not here - I can see all macros and TP programs. The Karel VARs and Karel POSNS is also empty. Can someone help me to put the Karel p code on the robot controller and that I can execute it.
Thanks!

Cosva

[Lerak]

First, you need the Karel option loaded on the robot to be able to run Karel Program.

Next, check if the variable $karel_enb is to 1 (no sub-group) in MENU-SYSTEM-VARIABLE

[cosva]

Thanks for your reply!! 

First, you need the Karel option loaded on the robot to be able to run Karel Program.

How do I load the Karel option on the robot (you mean robot controller?)? Or how do I know if the option is already loaded on the robot?

Thanks!

Cosva

[Lerak]

Go to MANU-STATUS-VERSION ID-CONFIG and look if Karel CMD Language is there.

 

[cosva]

Will do first thing tomorrow when I get to work.
Thanks!!

[cosva]

Next, check if the variable $karel_enb is to 1 (no sub-group) in MENU-SYSTEM-VARIABLE

This was the catch! Now it works just fine!! Thanks a lot! 

Cosva