Use this command to get the number of XBots and the IDs of the XBots whose centers are within the specified rectangular area.
Fieldbus Interface
PMC_FindXbotsInArea
Inputs
Name | Data Type | Description |
|---|
Enable | BOOL | Set enable to TRUE to execute the function block, FALSE to stop execution. |
BottomLeftX | REAL | X coordinate of bottom left corner of area (m) |
BottomLeftY | REAL | Y coordinate of bottom left corner of area (m) |
TopRightX | REAL | X coordinate of top right corner of area (m) |
TopRightY | REAL | Y coordinate of top right corner of area (m) |
PM_Controller | PMControllerType | Data structure that specifies which PMC to connect to. There should be only 1 instance of this variable for each connected PMC. |
Outputs
Name | Data Type | Description |
|---|
Valid | BOOL | TRUE: output values are valid. FALSE: output values are invalid. |
nXbots | USINT | Number of XBots whose centers are within the area |
XbotIDs | USINT[0..77] | IDs of XBots whose centers are within the area |
Conditions
Operating Conditions |
|---|
Preconditions | None |
Postconditions | XBots in the area are provided in the output |
Description
This command is used to get the number of XBots and the IDs of the XBots whose centers are within the specified rectangular area.
