IDLAB Wilab1 Inventory

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Quick help:

General canvas actions (click on canvas to focus)

Scroll: zoom the canvas.
Avoid using browser zooming (CTRL '+' or CTRL '-' or CTRL + scroll).
←↑→↓: pan in that direction
+ and -: zoom in and out (numpad + and -)
space: toggle live
c: toggle cams
Right click + drag: dragging the floor.
Left click + drag: dragging the floor, unless an endpoint is underneath.
Middle click + drag: if an endpoint is underneath, moves it.
Middle click + CTRL: moves an anchor point, if there is one.

Hotkeys for Drawing:

They work only in drawing mode (= not live, click on drawing board to focus).

a: add straight path
b: add bezier path
m: modify path
z: delete the last endpoint of the currently selected robot
ctrl + a: select all endpoints
ctrl + c: copy selected endpoints
ctrl + v: paste copied endpoints
ctrl + s: save

Placing Endpoints:

Select an action to start drawing. (either straight line or bezier curve )

Start drawing from dock:
select a robot
and drag from the dock

Extend path:
drag from the last endpoint

Modify path:
possible when drawing, all except the last EP. Left click + drag an endpoint to a new position

Context menu and deleting an EP:
Right click on EP to open the menu

Bezier curves:
converting a straight line to a curved one
moving the anchor of a bezier curve

Selecting Endpoints:

Selecting multiple endpoints:

CTRL + Left click: adds one endpoint to the selection
CTRL + Left click: adds one or more endpoints, extended from the range of the last selected endpoint
Shift or CTRL + Right click: paste to coordinates

Selecting EP's:
multiple and single select
clearing selection

Color Guide:

Offline:

Grey EP's: Initial position helpers, taken from the last EP from previous scene. Notice that the angle is also indicated by a black arrow.
Pink borders: simulation results
Red dots: collision points, indicates a path collision.

When drawing your paths, they are automatically validated by RobotControl after each modification (unless the auto validation and simulation checkbox is unchecked). Collisions will result in an "invalid path" error. These are shown by red dots on the canvas.
There are two types of collisions.
- Obstacle collisions: the path crosses an obstacle or goes outside of the grid bounds. Avoid this by altering the path.
- Robot collisions: the path of multiple robots crosses and two robots are at or near the same spot at the same time. Avoid this by delaying a robot or altering the path.
Avoiding collisions:
make sure your scenario doesn't contain collisions!

Online / Live:

Red borders: an erroneous state, an admin will have to intervene.
Light greenish/blue border: robot is idle and ready to go!
Orange border: robot is active and executing a scenario.
Gray border: robot is charging

Live Interactions:

Click the live button first (drawing controls will be disabled)
Via the actions dialog you can pass live action(s) to robot(s)
You can move the location manually by dragging out from a robot in idle state, use the buttons in the lower left gray box.

The tildes (
```
~~~~
```
) below the robots status, can change to
```
rlzb
```
. These letters mean:
- r: right eye open
- l: left eye open
- p: device on top of the robot is powered
- b: battery on top of the robot is charging
The text above the tildes indicates the charging state of the robot. This will mostly be
```
wait
```
, if the robot is not docked.

Admins only:

Set location (shortcut)

Set orientation (shortcut)

Drag & drive

Initialize / Play / Play all and Scene actions:

If a path without errors has been drawn, one can proceed to test it for the first time.

By default, the robot starts from its safezone. Pressing the Initialize button will put the robot exactly there.
The button will play the current scene. All robots need to be at their starting positions before they can drive. The scenario will start to run and an estimate of the duration will appear.
The button will play from the currently selected scene to the end, or, to a scene that does not auto-start.
Scenes can be added, deleted and swapped. Click and drag to put a scene earier or later. This should be done with care, as a swap can result in collisions.
Scenes can be doubleclicked for name-changes or right clicked for more options.

[Advanced] Overlays:

Sensor bitmap layout:

2 sensors: LyLxRyRx (e.g.
```
1001
```
if LY (left sensor saw Y line) and RX (right sensor saw X line))
4 sensors: s3s2s1s0 (with s = (yx), e.g.:
```
00011011
```
for no_s3 (saw nothing), s2x (s2 saw X), s1y (s1 saw Y), s0_error (s0 saw both X and Y))

Correction-field layout:

Should be three fields, separated by a '|', e.g.: 1|2|3 for correction in X = 1 cm, correction in Y = 2 cm and angular correction = 3 degrees.

[Advanced] Hooks:

Hooks:

Via the load menu, and the script icon, one can include an URL where a JavaScript file is located. In that script you can call whatever function you please to draw on the canvas. Be sure to add it to the global DRAW_HOOKS-array by calling

DRAW_HOOKS.push(your_function);

. It's also possible to override global vars, by using

VARNAME = 'new-value';

Useful variables are:

GRID_OFFSET_X and GRID_OFFSET_Y: an offset value where the helper-gridlines have to originate.
ROBOT_COLORS: is an array of colors per robotid (0 based, so changing color for robot 3 -> ROBOT_COLORS[3] = '#123456' (HEX-HTML colors)