It seems to have become a lot clearer.
However, there is still a question.
I have several programs and need to select an executable program through the external interface (Mapping IO).
For example the robot has programs: 1, 2, 3, 4.
And I have to pass the number of the program to be run via mapping.
How do I do this?
For example, we can write one programm with a bunch of conditions, but maybe there is another option.