Hi guys.
I do not know if anyone has done before ... But still ...
Experiments have shown that there is no need to create Karel-th server or client to transfer data to the robot. No need to resort to expensive ethernet ip option, device net, profinet etc ...
Now I can pass in any values in the robot R [], PR [], SR [] and also to interrogate the data registers. Poll RI / RO / DI / DO and modify RO / DO value.
There is no need to collect Di in Gi and scale them. All transmitted directly to the registers, pos registers, and string registers!
All changes occur Online, regardless of the mode of the robot, even if the robot is in error.
I have written an application that is able to do all this.
Here you can download a demo application: https://yadi.sk/d/RcCFsytfxMnyW
The application has a CheckBox and Button. At the touch of a button,value "-255.8" will appear in the R [5].
It works with "live" robot, and with RoboGuide.
What should be done:
1. Work with Roboguide
Create a cell with any robot. No additional options do not need to choose.
Assign to Port1 address 127.0.0.1, apply the changes. (I usually also restarted the cell in the cold, after the IP changes).
Start your application, put a check mark on the CheckBox. Click Set R button [5]. In the 5th register, you will see the value.
2. work with "live" robot
Assign to Port1 address 192.168.137.2, press the INIT button.
Assign network card PC - IP 192.168.137.218
Connect cord to the robot, do not confuse a port in the work.
Run application, click Set R button [5]. The 5m register, you will see the value.
How do you like my idea? ><_><