Variable for Frame 3 point method

Instead of trying to flush out the system variables, which are very likely there.. somewhere, what about using direct entry?

MENU, Setup, Frames
F3 OTHER, Tool Frames
F2 METHOD, Direct entry

Manually type in your calculated values for X,Y, and Z, and leave wpr at 0

Will that achieve what you want to accomplish?

Hello,

If this may help, you can use Karel FRAME function to generate a frame and override the '$CB_GRP[1].$FRM_OFFSET' variable with your newly created frame.

Quote

Hello,

If this may help, you can use Karel FRAME function to generate a frame and override the '$CB_GRP[1].$FRM_OFFSET' variable with your newly created frame.

I meant the '$MNUFRAME[1,*]' variable

Here is an example for this program :

Quote

PROGRAM FRM_OVD_XMPL

VAR
origin:POSITION
point1:POSITION
point2:POSITION
newframe:POSITION
STATUS:INTEGER
entry:INTEGER
BEGIN
origin = GET_POS_REG(1,STATUS) -- retrieve coordinates values from position register
point1 = GET_POS_REG(2,STATUS)
point2 = GET_POS_REG(3,STATUS)

newframe = FRAME(origin,point1,point2) -- Calculate frame

SET_VAR(entry, '*SYSTEM*','$MNUFRAME[1,1]',newframe,STATUS) -- Assign newframe value to UFRAME[1]

END FRM_OVD_XMPL

Display More

Here is a way to do it without Karel, just using a TP program. But you will have to define it more like direct entry than a 3 point method.

Calculate your new user frame position and orientation, then store it into a single position register.

Then set the user frame equal to that Position Register

: UFRAME[1]=PR[1] ;

Hi all,

I assume that the skalactiks program shown above does not write the three positions (Orient Origin Point, X Direction Point and Y Direction Point at setup screen. origin, point1 and point2 in the example) to the associated variables, does it? However, does anyone know in which variables the three positions are to be found? I would like to store them in the program as well (if not done automatically), to have the possibility to maybe check them later.

I'd guess they are stored in FRAMEVAR.VA. I found lots of positions there, but none of them has such an obvious name that you could tell it corresponds to these three positions. Unfortunately, the setup page only shows used for the three positions, but not the position itself. Otherwise I could search for it myself.

Thanks in advance.

In skalactik's program, he writes the values from PR 1, 2, and 3 into the position variables that are declared at the beginning of the program.

Those positions are local Karel variables, if you want to view those positions, you would just select the program, press the DATA key, then F1 for TYPE to select and view the Karel positions.

The only thing stored in FRAMEVAR.VA would be the resulting UFrame[1].

Looking through my FRAMEVAR.VA, I found this. The highlighted positions are the three points defining my origin, x, and y (positions are world 0). I don't know how to make use of this information, but it's definitely there.

edit: posting this removed the highlighting. COMP_POS1.NODEDATA[13].NODE_POS, COMP_POS1.NODEDATA[14].NODE_POS, and COMP_POS1.NODEDATA[15].NODE_POS are origin, x, and y, respectively.

edit #2: I looked at another robot and on that one, it's 7, 8, and 9 instead of 13, 14 and 15.

[TPFDEF]COMP_POS1  Storage: CMOS  Access: RW  : PATH = 
   Field: COMP_POS1.NODEDATA  ARRAY[72] OF PATH1_NODE_T
       Field: COMP_POS1.NODEDATA[1].NODE_POS Access: RW: XYZWPREXT = Uninitialized
       Field: COMP_POS1.NODEDATA[2].NODE_POS Access: RW: XYZWPREXT = Uninitialized
       Field: COMP_POS1.NODEDATA[3].NODE_POS Access: RW: XYZWPREXT = Uninitialized
       Field: COMP_POS1.NODEDATA[4].NODE_POS Access: RW: XYZWPREXT = Uninitialized
       Field: COMP_POS1.NODEDATA[5].NODE_POS Access: RW: XYZWPREXT = Uninitialized
       Field: COMP_POS1.NODEDATA[6].NODE_POS Access: RW: XYZWPREXT = Uninitialized
       Field: COMP_POS1.NODEDATA[7].NODE_POS Access: RW: XYZWPREXT = 
  Group: 1   Config: N U T, 0, 0, 0
  X:   970.456   Y: -1038.993   Z:  -667.294
  W:   179.165   P:     -.390   R:    25.433
       Field: COMP_POS1.NODEDATA[8].NODE_POS Access: RW: XYZWPREXT = 
  Group: 1   Config: N U T, 0, 0, 0
  X:  2455.328   Y: -1021.317   Z:  -679.000
  W:   179.166   P:     -.389   R:    25.433
       Field: COMP_POS1.NODEDATA[9].NODE_POS Access: RW: XYZWPREXT = 
  Group: 1   Config: N U T, 0, 0, 0
  X:  2470.603   Y:  1067.160   Z:  -681.771
  W:   179.296   P:     -.095   R:    71.475
       Field: COMP_POS1.NODEDATA[10].NODE_POS Access: RW: XYZWPREXT = Uninitialized
       Field: COMP_POS1.NODEDATA[11].NODE_POS Access: RW: XYZWPREXT = Uninitialized
       Field: COMP_POS1.NODEDATA[12].NODE_POS Access: RW: XYZWPREXT = Uninitialized
       Field: COMP_POS1.NODEDATA[13].NODE_POS Access: RW: XYZWPREXT = 
  Group: 1   Config: N U T, 0, 0, 0
  X:  1513.966   Y:  -883.466   Z:    13.721
  W:  -179.757   P:     -.470   R:    92.472
       Field: COMP_POS1.NODEDATA[14].NODE_POS Access: RW: XYZWPREXT = 
  Group: 1   Config: N U T, 0, 0, 0
  X:  2330.211   Y:  -862.026   Z:    16.359
  W:  -179.757   P:     -.470   R:    50.829
       Field: COMP_POS1.NODEDATA[15].NODE_POS Access: RW: XYZWPREXT = 
  Group: 1   Config: N U T, 0, 0, 0
  X:  1456.289   Y:   638.774   Z:    30.119
  W:  -179.757   P:     -.470   R:    50.829

Yep, that was it. I also found my frames in FRAMEVAR.VA. Unfortunately, the corresponding points don't seem to be arranged logically or in strict sequence. At least I have not yet found out which system is used to assign them.

The points of UFRAME(3) are stored from COMP_POS1.NODEDATA[57] onwards

The points of UFRAME(4) are stored from COMP_POS1.NODEDATA[11] onwards

SETUP_DATA[1,1,...] contain tool frames

SETUP_DATA[1,2,...] contain nothing (Jog-frames?)

SETUP_DATA[1,3,...] contain user frames

SETUP_DATA[...].$METHOD is the method used:

= 0 is 3 point

= 3 is direct entry

SETUP_DATA[...].ALLOC_NODES is the number of allocated bytes(?)

= 8, if $METHOD is 3 point

= 255, if $METHOD is direct entry

SETUP_DATA[...].START_NODE is from where the points of the $METHOD are stored in COMP_POS.