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Today, only part of the
documentation is available in English. Soon the English full version will be available here!
Thanks to Marcos Henry for the English translation! Valeu
Marquinhos!
Table of
Contents
- Software
- The software runs
under MS Windows® version 3.1 or later,
including MS Windows ®95 and NT.
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- User interface
- During software
execution, 2 windows are visible for the user.
In the main window are displayed the camera
views, in which the user sends commands to the
robot.
In the robot control window, that is always above others, the user controls camera views and
tells robot how to catch objects. Also is this
window are displayed the strength on robot joins
and author information as well.
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- Main window
- In the main window
(picture bellow), there are two internal areas,
which one corresponding a camera view. One of the
cameras is visible above other and can be
disabled anytime (turned off).
At the window's inferior area, there is a status
bar displaying messages for the user.
For the robot to catch an object, it's necessary
that the user enquires this in the main window,
using the mouse as follow explained.
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- Catching objects
- To choose what
object the robot must catch, the user have to
take the cursor onto it.
It's good to remember that the object's center
must be positioned inside the robot's fist to be
identified by the robot.
When the cursor is on the object it's color
changes into red, indicating that it can be
processed. A message about the object will appear
at the status bar, telling whether the robot can
catch the object.
For the robot to catch the object, the mouse's
left button must be pressed on the object.
After that, the object's color will change again,
but now into a blue color. Which indicates the
action of catching.
In case the robot ignores the object, means that
the chosen way of catching wasn't possible or the
object couldn't be moved. A message will come up
at the status bar, indicating the catch. To avoid
it, you'd better choose the automatic way of
catching objects.
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- Moving objects
- Right after the
robot's got an object, the user will be able to
take it to another place.
To choose which place the robot must take an
object, the user have to take the cursor to it's
destiny. It's color will change again, indicating
that the cursor is on the object, then the user
must press the mouse's left button on the object.
After that, the object's color will change again,
but now into a blue color. Which indicates the
action of moving the catched object to this
location.
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- Information about
objects
- To get some
information about scene objects, take the cursor
until it. It's color will change indicating that
the cursor is on it, then, press the mouse's
right button on the object.
The cursor's shape will change into a exclamation
mark, indicating that a requirement is being
made.
A message will come up at the status bar with information about those object.
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-
- Robot control
window
- In the robot
control window (picture bellow) the user can change the views of the cameras, turn then off,
choose what method the robot must use to catch
objects, look the strength on robot joins and see information about the author.
The operations to change the view camera and turn
then on and off, are always be made relative to
the selected camera. The selected camera is
indicated with the the radio box on left of it.
Control Panel
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- Selecting views
- Para selecionar uma
camera, o usuário devera levar o cursor até o
botão de rádio correspondente à camera que
deseja e apertar o botão esquerdo do mouse.
A camera selecionada terá a bolinha a sua
esquerda preenchida, indicando assim, a camera
selecionada.
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- Changing camera view
- Para trocar a
visão, leve o cursor até o botão TROCAR e
aperte o botão esquerdo do mouse. A imagem da
camera será trocada e a linha de status mostrara
uma mensagem indicando que a visão foi trocada e
o nome da visão selecionada será atualizada.
Apesar de termos apenas duas cameras, estas
cameras possuem diversas vistas, pois cada camera
está associada a diversas cameras virtuais.
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- Turning cameras on/off
- Para desligar ou
ligar uma camera, leve o cursor até o botão
desligar/ligar que neste momento estará
mostrando DESLIGAR caso a camera esteja ligada ou
LIGAR caso a camera esteja desligada. Aperte o
botão esquerdo do mouse para que a camera seja
ligada ou desligada.
Caso a camera principal esteja desligada, nenhuma
operação poderá ser efetuada na camera
detalhada. Esta somente estará disponivel caso a
camera principal esteja ligada, pois ela tambem
se desliga quando a camera principal é
desligada.
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- Selecting how to catch
objects
- O robô, ao iniciar
o software, irá pegar os objetos da melhor forma
possivel, ou seja, no método automático.
Caso deseje que o robô pegue os objetos de uma
determinada forma, antes de solicitar que o mesmo
seja pego, informe o método desejado.
Existem 4 maneiras de pegar um objeto, sendo que
a maneira atualmente selecionada possui a bolinha
a sua esquerda preenchida.
Para alterar a forma de pegar, leve o cursor até
a forma desejada e aperte o botão esquerdo do
mouse.
A partir daí, a bolinha preenchida ficara a
esquerda da forma que você selecionou, indicando
assim, que esta será a forma como o robô irá
pegar o próximo objeto.
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- Looking the strength on
joins
- Na janela de
controle do robô, existem 3 medidores que
indicam o torque do motor das três juntas do
robô. O nível de preenchimento de cada medidor,
indica a força exigida em cada motor. Caso o
medidor esteja todo preenchido, indicará assim
que o motor está no seu maximo. Caso esteja
preechido pela metada, indicará que está com
metade de sua capacidade.
Vale lembrar aquí, que o calculo de seu
preenchimento está ligado apenas ao grau de
inclinação da juntas em sequência, não
baseado em calculos reais de física.
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- Hiding robot
control panel
- Caso voce queira
ocultar parcialmente o painel de controle, você
pode fazer isso clicando com o botão direito do
mouse na barra de títulos da janela do painel de
controle. Com isso, ficará visivel apenas a
barra de títulos, permitindo assim, uma maior
visão das cameras. Para retornar ao tamanho
normal, repita o procedimento.
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- Contacting the Author
- In case of any
questions about how to use the simulator, any additional information, notify about any problem
with the software, or only send your comments,
send me a e-mail message to the address 'lf@encarnacao.com'.
You can do it know, just click here. And remember, it's a pleasure to
me to help you!
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