Inspection Robot 1

nodes/inspection_robot_1.py

MoveToPickup:

Simulates movement to conveyor and sets IR1Location to “Conveyor”.

Output

Feedback: IR1 reached Conveyor

Success: Always

GraspCell:

Inspection robot 1 grasps a cell. If successful, cellsQueued is decremented by 1 and IR1Grasping is set to True.

Output

Feedback: “IR1 grasped cell”

Failure: Inspection robot is not at conveyor or no cells are queued.

Success: Inspection robot was at conveyor, and successfully grasped a queued cell.

MoveToTester1:

Checks if IR1Grasping is True. If so and IR1Location is not “Tester 1”, simulates movement and sets IR1Location to “Tester 1”.

Output

Feedback: Inspection robot 1 has reached/is at tester 1.

Failure: Inspection robot doesn’t have a cell.

Success: Inspection robot 1 is at tester 1.

MoveToTester2:

Checks if IR1Grasping is True. If so and IR1Location is not “Tester 2”, simulates movement and sets IR1Location to “Tester 2”.

Output

Feedback: Inspection robot 1 has reached/is at tester 2.

Failure: Inspection robot doesn’t have a cell.

Success: Inspection robot 1 is at tester 2.

PlaceInTester:

Inspection robot 1 places the cell into whichever tester it is at. If tester 1, FreeTesters = “Tester 2”. If tester 2, FreeTesters = “Tester 1”.

Output

Feedback: The tester that inspection robot 1 placed the cell into.

Failure: Inspection robot 1 isn’t at a tester or doesn’t have a cell.

Success: Inspection robot 1 successfully placed a cell into 1 of 2 testers.

Wait1Sec:

Inspection robot 1 waits for 1 second.

Output

Feedback: Completion of wait.

Success: Always