Best Practices: Difference between revisions
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This page is dedicated to listing some good practices to do or helpful things to set up for programming.
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=== Position Registers ===
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The most common universal position stored in position registers is the "Home" position. For our robots, we set the joint positions to zeros except for joint 5, which faces down. This means the tool can be moved in world frame XYZ after taking it to home, with no angles or error in Z motion
==== Zeroing ====
Position registers are often zeroed in the beginning of programs to initialize them as a predictable value. If a program uses values from a position register that isn't within the acceptable range to start, unintended events could occur.
This can be done with a single register instruction, as follows:
'''PR[5]=PR[5]-PR[5]'''
=== Digital Inputs ===▼
* It is best to cluster your individual digital inputs and outputs on one side of whatever range you are using. This makes it easy to set up a [[I/O#Group I.2FO|group input]] without having to change any existing inputs.
▲=== Digital Inputs ===
* Any group of inputs can become an analog input, given an ADC.
==Files and File Systems==
This section briefly details files. For more information, see [[File Manipulation]].
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=== Backups ===
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