Improvements to Vision System Among Other Things

Important changes

The programs.bin save file has been changed to a programs directory, which houses all the program save files. RobotRun will still load from recent programs.bin files, however, it will create the programs directory and remove the programs.bin file when saving.

In addition, program text files are saved in an out directory in the robots subdirectory and the program export feature is now bound to a button in the miscellaneous menu.

Finally, restrictions are in place for memory allocation of the applicaiton:

• Maximum program size is 1000 instructions
• Maximum programs per robot is 100
• Maximum scenario size is 30 world objects
• Maximum number of scenarios is 60

Of course, this only applies to the number of each used by an application at one time. It is entriely possible to create multiple tmp directories and switch between them. Unfortunately, even with these restrictions, if you try and create a number of large of programs, then saving and loading will slow down drastically. Also, if you try to import too many complex objects, which use .STL files of large sizes (i.e. grinder.stl), then you can crash the application quite easily.

Therefore, try and use boxes and cylinders (which use considerably less memory) over complex objects. And use more .STL files with smallers sizes (you can check the file size of these models in the data subdirectory of the RobotRun directory).

Other changes include

Updatest to camera scaling and orientation
More flexible world object selection (in the edit and camera menus)
Moving and copying options world objects between scenarios
Improvements to the robot camera menu and teaching method
Additional debugging features in the miscellaneous menu
Fixed some more issues with expression evaluation
Fixed issue with program size when loading in large program files
Window resize functionality
Improvements to the tool frame