Get Spaced XBot Positions

This command is used to obtain a list of XBot positions (taking the current XBot positions as initial points) in which the XBots are sufficiently spaced apart such that Auto Driving does not fail.

Fieldbus Interface

PMC_GetSpacedXbotPositions

Inputs

Name	Data Type	Description
Execute	BOOL	Execution of the function block begins on a rising edge of this input.
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
Done	BOOL	Execution successful. Function block is finished. (Note: Done will not become TRUE if Execute is already FALSE)
Busy	BOOL	Function block is active and must continue to be called.
Aborted	BOOL	Command aborted by another command.
Error	BOOL	If there is an error in processing the command, then Error = TRUE, otherwise, FALSE.
ErrorID	UINT	0x0: All OK. Otherwise, please see PMC Reply Codes.
nXbots	USINT	Number of spaced XBots
XbotIDs	USINT[0..149]	IDs of spaced XBots
PosX	REAL[0..149]	X positions of spaced XBots (m)
PosY	REAL[0..149]	Y positions of spaced XBots (m)

Conditions

Operating Conditions
Preconditions	XBots are in Idle state or Obstacle state
Postconditions	A spaced list of positions is obtained in the output

Description

This command is used to obtain a list of XBot positions (taking the current XBot positions as initial points) in which the XBots are sufficiently spaced apart such that Auto Driving does not fail.

Consider the situation where some XBots are in Obstacle state before Deactivating or Stopping the system. Using their current positions as input to the Auto Driving command may result in the command returning an error since some XBot positions may seem to be overlapping. Calling Get Spaced XBot Positions before deactivating will provide adequately spaced positions to use in the Auto Driving command and to resume operation.

Get Spaced XBot Positions only returns a list of positions, it does not space the XBots by itself