[R-30iB] Karel - reading and converting a 32-bit value

Quote from bidzej

Hello,

I have a problem regarding a laser distance sensor connected to a robot over ProfiNet. I need to read the distance value and then make some calculations with it in Karel.
The thing is that the sensor returns the distance as a 32-bit value and the robot only accepts 16-bit analog or group inputs. Any experience on converting a 32-bit value and then using it for calculations in a Karel program?

Can you send it to a PLC then to the robot?
or
You can convert it from Profinet to Serial with a converter

That's just some things I could think of real quick. I'm sure Fanuc has a better solution to cope with this.

What kind is your 32-bit value, REAL or INTEGER?

If it is an integer, is it signed or unsigned?

Quote from Nation

If it is an integer, is it signed or unsigned?

You're right, of ccourse

Since you wrote about pulling in the 32 bit number on group inputs, I went ahead and assumed it was unsigned.

I wrote some code for parsing in a 32 unsigned integer. Unfortunately you can only get half way up until the karel code I wrote errors out (final 32 bit number must be less than 2,147,483,647) , as there is no way that I know of to declare in karel an unsigned integer.

The code assumes that there are 4 group inputs (11-14) each holding one byte of information. This is then pulled in and combined in the karel code. Group input 11 is the least significant byte, and 14 is the most.

Here is the code:

PROGRAM ROB_FORUM
%NOLOCKGROUP


VAR
GROUP_I				:ARRAY[4] OF BYTE
RETURN_VAL,RESULT,STATUS 	:INTEGER
BEGIN
	GET_PORT_VAL(18,11,RETURN_VAL,STATUS)
	GROUP_I[1]=RETURN_VAL
	GET_PORT_VAL(18,12,RETURN_VAL,STATUS)
	GROUP_I[2]=RETURN_VAL
	GET_PORT_VAL(18,13,RETURN_VAL,STATUS)
	GROUP_I[3]=RETURN_VAL
	GET_PORT_VAL(18,14,RETURN_VAL,STATUS)
	GROUP_I[4]=RETURN_VAL
	RESULT=GROUP_I[1]+GROUP_I[2]*256+GROUP_I[3]*65536+GROUP_I[4]*16777216
END ROB_FORUM

The constants in the result equation do the same thing as a lshift does in C (<<).

Quote from Nation

Since you wrote about pulling in the 32 bit number on group inputs, I went ahead and assumed it was unsigned.

I wrote some code for parsing in a 32 unsigned integer. Unfortunately you can only get half way up until the karel code I wrote errors out (final 32 bit number must be less than 2,147,483,647) , as there is no way that I know of to declare in karel an unsigned integer.

The code assumes that there are 4 group inputs (11-14) each holding one byte of information. This is then pulled in and combined in the karel code. Group input 11 is the least significant byte, and 14 is the most.

Here is the code:

Code

PROGRAM ROB_FORUM
%NOLOCKGROUP


VAR
GROUP_I				:ARRAY[4] OF BYTE
RETURN_VAL,RESULT,STATUS 	:INTEGER
BEGIN
	GET_PORT_VAL(18,11,RETURN_VAL,STATUS)
	GROUP_I[1]=RETURN_VAL
	GET_PORT_VAL(18,12,RETURN_VAL,STATUS)
	GROUP_I[2]=RETURN_VAL
	GET_PORT_VAL(18,13,RETURN_VAL,STATUS)
	GROUP_I[3]=RETURN_VAL
	GET_PORT_VAL(18,14,RETURN_VAL,STATUS)
	GROUP_I[4]=RETURN_VAL
	RESULT=GROUP_I[1]+GROUP_I[2]*256+GROUP_I[3]*65536+GROUP_I[4]*16777216
END ROB_FORUM

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The constants in the result equation do the same thing as a lshift does in C (<<).

Nation, I see you're using port type as "18". Where do you get the numbers for each port type?

Quote from ESIELI

Nation, I see you're using port type as "18". Where do you get the numbers for each port type?

From the KLIOTYPS.KL file. If you have roboguide installed, do a search of your disk and you will find it.

Quote from Nation

From the KLIOTYPS.KL file. If you have roboguide installed, do a search of your disk and you will find it.

Roboguide?? I wish.. lol My company is too cheap.

Thanks

Nation , but how would you do it vice versa in case you need to write XYZWPR value into the I/O (groups)?

First, don't bump 5 year old threads. This would have been better as a new thread.

Depends on the resolution you need. Since groups are INT based, I would just multiply the components of the position by 10 or 100, write to 6 groups, and then divide on the other side.

Also, depends on your communication method. There are far better ways to get position data out of the robot than by group outputs.

That is the deal i should keep it like that to allow later to be compatible with various comm. methods.

Ok, still i need to get from REAL values integer. What is then the command for "Divide without remainder" or is the the way to parse the REAL values?

If possible can you please mention the Karel commands for that

Ok , at least the digits before comma i can extract via String parsing

x : REAL (1025.395)

CNV_REAL_STR(x,4,0,x_str)

x_short=SUB_STR(x_str,2,3)

SET_STR_REG(1,x_short,STATUS)

CNV_STR_INT(x_short,result)

result = 102 INTEGER