Warning
You are reading an old version of this documentation. If you want up-to-date information, please have a look at 5.0 .Force take image
The scenario with the command force_take_image is used when you know that the parts on the Asycube will move because of some external disturbances. The disturbances can occur during the pick or place of a part, or simply during a robot movement.
The command force_take_image is then useful to ensure the coordinates of the parts by taking another image after the known disturbances. Refer to Fig. 201 for a straightforward integration with a get_part command.
Note
If the parameter can_take_image is set to false
, the command
force_take_image will not start.
The left scenario in Fig. 201 follows these steps:
[Move robot out of field of view]: Before calling the get_part command, you have to ensure that nothing obstructs the camera view.
[get_part]: Call the get_part command, it will either make the Asycube vibrate and take a picture, or send you directly the coordinates of a part.
[Pick part]: Pick the part. When the part is picked up, the robot touches the Asycube and makes the remaining parts move.
[force_take_image]: Force EYE+ to take an image to adapt the coordinates already stored in memory with their new position.
Start again from step 1. The cycle stops when EYE+ receives the command stop production.