Movement control on a line in the program

Hello every body,

I have this loop:

" while nNbPrisesAEff>nNbPrisesEff

//appel trajs

call T_Prise()

call T_Depose(0)

endWhile "

At the end of T_depose, i have:

" nMoveIdDegDep=movel(compose(pDep2,world,{150,0,0,0,0,0}),tPic,mDegL_H)

break

endSwitch

// attente dégagement degagement depose pour declarer fin depose

wait(getMoveId()>=nMoveIdDegDep) "

The problem is that, despite of " wait(getMoveId()>=nMoveIdDegDep) ", the controller does several loop like if the instruction getMoveId does not exist.

The only way to avoid that is to put a WaitEndMove() instruction. But it generates stop point that causes loss of time...

How can i do plz ?

Hello,

Thks for the reply.

Are you sure that the line "nMoveIdDegDep=..." is executed. >>see below

Can you controle the value of "nMoveIdDegDep" when the robot execute the loops ? >> i already used it in a another task to monitor a part counting when the part is placed and it works well

To debug, you can :

- Use the debug mode to control which instruction are executed. >> so i have tested with the debug mode and the execution seems correct...

- Create an independant task to memorise the value of "getMovveId" >>I have to do...

Here is the entire code of T_Depose:

" switch x_nNumDepose

case 1

// vers dépose 1 = côté aval rivière

movel(compose(pDep1,world,{150,0,0,0,0,0}),tPic,mAppL_H)

if nNumTrajEc==nTRAJ_APP_DEP1 >>only in manual mode<<

movel(pDep1,tPic,mArret)

call PauseToTeachPt("Apprentissage Point dépose 1","Vérifier/teacher le point")

else

movel(pDep1,tPic,mFinL_H) >>only in automatic mode<<

endIf

movej(appro(pDep1,{0,0,-nCoteDegDevetisseur,0,0,0}),tPic,mFinJ_V)

nMoveIdDegDep=movel(compose(pDep1,world,{150,0,0,0,0,0}),tPic,mDegL_H)

break

case 2

// vers dépose 2 = côté amont rivière

movel(compose(pDep2,world,{150,0,0,0,0,0}),tPic,mAppL_H)

if nNumTrajEc==nTRAJ_APP_DEP2 >>only in manual mode<<

movel(pDep2,tPic,mArret)

call PauseToTeachPt("Apprentissage Point dépose 2","Vérifier/teacher le point")

else

movel(pDep2,tPic,mFinL_H) >>only in automatic mode<<

endIf

movej(appro(pDep2,{0,0,-nCoteDegDevetisseur,0,0,0}),tPic,mFinJ_V)

nMoveIdDegDep=movel(compose(pDep2,world,{150,0,0,0,0,0}),tPic,mDegL_H)

break

endSwitch

// attente dégagement degagement depose pour declarer fin depose

wait(getMoveId()>=nMoveIdDegDep)

waitEndMove() "

Quote from ElEsgalho

Hi, the condition wait(getMoveId()>=nMoveIdDegDep) is always true.

The getMoveId will be always between the current movement, nMoveIdDegDep + .xx, which xx is the percentage of completion, example, if nMoveIdDegDep=10, getMoveID could be 10.52 if it is at 52% of completion.

You need to add something to stop it!

Example: wait(getMoveId()>=nMoveIdDegDep+0.5), it will wait until complete 50% of the move!

I am going to test that.

Thanks.