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# Using OpenTCS
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Start by running the openTCS kernel in modelling mode. After the kernel is started open the Plantoverview and load the demo01.xml (`<plantoverviewfolder>/data/demo01.xml`).
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Click on File and persist the model into the kernel. After you have done this you have to set both the kernel and the Plantoverview in operating mode.
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Now you have to go to the Plantoverview and right-click a vehicle and set it's integration level to "utilize this vehicle".
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Now go to the kernel and select the loopback adapter for the vehicle and enable it. Optionally you can set a point to the vehicle so it has a starting position. (The loopback adapter is a virtual adapter, which allows you to get to know the features of OpenTCS without having a robot connected to it.)
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Now you can go back to the Plantoverview and add a new transport order. After adding the transport order you should see the vehicle moving to your given position.
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## Table of Contents
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* [Add the communication adapter to the Kernel]()
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* [Design your warehouse]()
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* [The Kernel]()
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## Add the communication adapter to the Kernel
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To be able to use our communication adapter you have to compile (clean and build) the communication adapter in preferably Netbeans (more information [here](https://git.fhict.nl/I312980/move-it/wikis/installation/installation#set-up-netbeans).
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Now go to the target folder of the communication adapter and copy the `.jar` to `openTCS-Kernel/lib/openTCS-extensions`. Do not forget to copy the `json-simple-1.1.jar` to the same folder. You can do this by locating the `.jar` file in Netbeans and copy pasting the file in `openTCS-Kernel/lib/openTCS-extensions`.
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Next time you start the Kernel you will find a new adapter called `move-it` which represents our communication adapter.
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## Design your warehouse
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Start the Plantoverview and load the datamodel we have included in our project [move-it-communication-adapter/MoveIT.xml](https://git.fhict.nl/I312980/move-it/blob/master/move-it-communication-adapter/MoveIT.xml). For each vehicle you have, you have to add two key value pairs in the miscellaneous property of the vehicle:
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* host: The IP-address of the robot you want to connect to
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* port: The port to connect to
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Besides that you have to make sure that every point has an x and y value so the robot knows the location where it needs to drive to (in real life).
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Note that at this moment the robot is only able to process the following operations:
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* NOP
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* Load cargo
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* Unload cargo
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* Charge:100
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* Charge:50
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* Drill
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* Cut
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## The Kernel
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After you are done with developing your warehouse, you have to persist it into the kernel. If you have not saved your model yet, do so now. Next up you have to open the Kernel and then you have to switch back to the Plantoverview. In the Plantoverview you click on File - Persist model in the kernel. Now your warehouse is running in the kernel, so go to the kernel window.
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In the kernel window you are able to connect each vehicle using an adapter to the kernel. Select `move-it`, make sure that the robot is running or our [DummyBot](https://git.fhict.nl/I312980/move-it/wikis/usage/dummybot) and click enable.
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## Operate the warehouse
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Now switch back to the Plantoverview and click File - Load current kernel model.
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Now right-click on the vehicle you just enabled, and click Change integration level - ... to utilize this vehicle for transport order.
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Now you have done that you can add a Transport order and your robot will drive through the warehouse (in real life or virtual, depending on which communication adapter you used).
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[Home](https://git.fhict.nl/I312980/move-it/wikis/home) |
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