Okay, working offline for now because I don't have a Robot Studio license, and my CRB-1100 won't be delivered until roughly Halloween. I have the basic flow of everything down, modules organized, and most (non-IO) data declared.
Started playing around with my homing routine this morning, and writing it from scratch just for practice, since it's been a couple years since I did this. Anyway... I came up with a different approach than I would normally use, and I want to know if this method would actually be useful in any scenario.
So tell me... cool idea? Stupid idea? Would you use it, and if so, where?
EDIT: Since I'm offline with no license, I may have some poor syntax and/or arguments. Please feel free to point them out haha!
VAR robtarget CPos;
VAR jointtarget CJoint;
VAR bool NearFunnel;
VAR bool NearRegrip;
VAR bool NearSingularity;
NearFunnel:=CPos.trans.z<100 AND cpos.trans.x>100;
NearRegrip:=CPos.trans.x=50 AND CPos.trans.y=50;
IF NearFunnel THEN
!Do this thing
ELSEIF NearRegrip THEN
!Do that thing
ELSEIF NearSingularity THEN
!Do the other thing
What led me to this was trying to clean up the IF-THEN portion to make it more legible. I thought if I could set up some boolean values for each condition, then I wouldn't have to have so much in each IF STATEMENT. I think it's clean and very readable, if not very efficient. And I don't think this is the right use case for it either. But I'm open to ideas or criticism for later reference!