It is disabled in yellow when I add the urcap I created in the robot program. I want to know how to activate urcap to start the robot program.
If a program node is not defined (
isDefined() --> false), it is yellow.
Hence is not able to execute.
If the node returns true to isDefined, the node turns defined, and the program is able to execute.
Where do I define what part of my URCap program will work when I start the robot program?
what’s your task and your urcap structure?
you can use child nodes to dynamically add and remove other custom urcaps or built-in functions like wait nodes etc.
Another option is to use the suppress function if you wish to temporary skip a program node.
If you want your urcap to generate Urscript depending on a input variable u can do so by implementing it in the generateScript Function of your ProgramNodeContribution
Is there a good example?