Creating 'flight paths' for the robot arm...

To keep the logic simple when controlling the robot arm I've decided to create the concept of 'flight paths' as in predefined routes the arm will take rather than having a different route for each sort action.

So to move the unsorted green brick in position 0 into its sorted position 3 I would need to call the following predefined 'flight paths':

A - to move the arm to the default unsorted position
B.n - where n is the unsorted bricks position, 0 to 8
C.n - where n is the unsorted bricks return to default unsorted position
D - to move the arm to the default sorted position
E.n - where n is the sorted bricks position, 0 to 8
F.n - where n is the sorted bricks return to default sorted position
G - to move the arm to the default unsorted position
Either sort another brick or H - to move back to the arm start position

I could optimise the last brick sort step and move the arm directly from default sorted position to the arm start position, i.e., missing out G and H for the last sort and call it step I.

I'll also need a set of flight paths to pick up the web camera, take the picture and return the web camera before stating off sorting the blocks.  More code!!!

Robot arm 'flight paths'