- Step 1: Add the tool to a slot
- Step 2: Create the sequence
- Step 3: Start from home
- Step 4: Move above the tool
- Step 5: Mount the tool
- Step 6: Pull the tool out of the slot
- Step 7: Save and test the sequence
- Additional considerations
- What’s next?
This example sequence is only applicable to FarmBot Genesis kits, which have a universal tool mounting system and interchangeable tools.
If you haven’t already, create the watering nozzle tool in the web app and add it to a slot. Then place the real tool in the physical slot to ensure your real-life configuration matches the web app.
Navigate to the Sequences page of the web app and press thebutton to add a new sequence. The new sequence will appear in the sequence editor in the middle column. Give the sequence a descriptive name and optionally assign it a color.
Begin the sequence with a movement to the home position. Add a Find Home command by clicking it or dragging it into the sequence from the Commands column.
If you are not using encoders, endstops, or stall detection...
You may use a Move step to (0, 0, 0) instead of Find Home.
Next, we want to move FarmBot to a position directly above the tool to prepare it for descending and mounting the tool. Add a Move command by clicking it or dragging it into the sequence. Select the
Watering Nozzle tool in the LOCATION dropdown and add a
100 mm Z-OFFSET.
Now we want FarmBot to descend directly down to mount the tool. Add another Move command and select the
Watering Nozzle in the LOCATION dropdown as before. This time, we will not add any offsets.
At this point, FarmBot’s UTM would be mounted to the watering nozzle tool in the slot. The next step will be to pull the tool out of the slot. Add another Move command and select the
Watering Nozzle as before. Then add a
100 mm X-OFFSET.
Press thebutton to save the sequence. Then use the button to try out your new sequence.
Now that you’ve created a tool mounting sequence, try creating a sequence to return the tool to the toolbay.
It can be helpful to add a Move command with offset from current location selected in the LOCATION dropdown at the end of the sequence to move FarmBot in the positive Z direction. This will help reduce the likelihood of subsequent movements impacting any nearby objects (such as plants).
You may consider omitting the Find Home command at the beginning of the sequence if the sequence is being used within a larger sequence that already has a Find Home at the beginning.
This example sequence can only be used to mount the watering nozzle tool, meaning you will need to make additional sequences to mount other tools. Consider using a location variable to make this a generic mount tool sequence that can be used to mount any of your tools.