Makes robot movement (movej() etc.) track a linear conveyor.

>>> track_conveyor_linear(p[1,0,0,0,0,0],1000.0)

The example code makes the robot track a conveyor in the x-axis of the robot base coordinate system, where 1000 ticks on the encoder corresponds to 1m along the x-axis.

Parameters

direction: Pose vector that determines the direction of the conveyor in the base coordinate system of the robot

ticks_per_meter: How many ticks the encoder sees when the conveyor moves one meter

encoder_index: The index of the encoder to associate with the conveyor tracking. Must be either 0 or 1. This is an optional argument, and please note the default  of 0. The ability to omit this argument will allow existing programs to keep working. Also, in use cases where there is just one conveyor to track consider leaving this argument out.

Example command: track_conveyor_linear(p[1,0,0,0,0,0], 1000.0)

• Example Parameters:
  • direction = p[1,0,0,0,0,0] Pose vector that determines the direction of the conveyor in the base coordinate system of the robot
  • ticks_per_meter = 1000. How many ticks the encoder sees when the conveyor moves one meter.