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7 PROGRAMMING A ROBOT WITH IRC
7.6.4 Calculating with Variables
Calculations with variables can be performed using the Math command, which is accessible in the
program editor via the menu item "Special"
→
"Variable operation".
"First operand" defines the first operand of the operation to be executed. It is also used to store the
result.
"Second operand" defines the second operand of the operation. It can contain numeric constants,
names of number variables or components of position variables.
The following operations are supported and can be selected under "Operation":
• Assignment: The first operand is set to the value of the second operand.
• addition: The first operand increased by the value of the second operand.
• subtraction: The first operand is decreased by the value of the second operand.
• Multiplication: The first operand multiplied by the value of the second operand.
• Division: The first operand divided by the value of the second operand.
• Modulus: The remainder of the division of the first operand by the second operand is stored in
the first operand.
The following combinations of operands and operators are allowed (number here also means position
components):
Assignment Plus Minus Multiplication Division Modulus
Both are number x x x x x x
Both are position x x x
Op 1 is position, Op 2 is num-
ber x x x
Op 1 is Number, Op 2 is posi-
tion
7.6.5 Observing Variables
You can observe the current values of all defined variables in iRC in the "Programs and Variables" tab
in the status area.
Figure 22: The values of the variables are displayed in the info area.
7.7 Camera
The camera instruction allows object information to be retrieved from an object detection camera.
The information includes grab position and orientation, as well as object type and detection state.
To use a camera, it must be defined and calibrated in the configuration area (see section 9.2.5). The
program instruction can be added via the menu item "Special Commands"
→ "Camera".
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