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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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Table of Contents
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.

Picture of Main Window

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
Picture of Robot Control Window

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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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Copyright ©1999 - Encarnação (lf@encarnacao.com)
Last Updated: October 8, 1999.