FlexScript Class - AGV
Description
Provides access to data and methods related to AGVs.
Properties
accumAheadAGV
Gets the next AGV on an accumulating path.
ampHours
Gets the number of amp hours remaining in the AGV's battery.
batteryLevel
Gets or sets the ratio of (amp hours remaining)/(total amp hours) as a percentage.
currentCP
Gets or sets the current control point for this AGV.
destination
Gets the current destination of the AGV.
destinationCP
Gets the current desination control point of the AGV.
finalDestinationCP
Gets the final destination control point of the AGV.
originCP
Gets the origin control point of the AGV.
proximityState
Gets the current proximity state of the AGV.
speed
Gets the current speed of the AGV.
te
Provides access to Object methods and properties for this AGV.
Methods
attachTrailer
Attaches the given object as a trailer on the AGV.
detachTrailer
Detaches the given trailer from the AGV.
redirect
Redirects the AGV to a new destination, based on the given mode.
startRecharge
Begins recharging the AGV's battery.
Static Methods
AGV
Creates an AGV object based on the given TaskExecuter.
Details
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AGV .accumAheadAGV
readonly AGV accumAheadAGV
Description
Gets the next AGV on an accumulating path.
If there is no AGV ahead of the current one, or if the path type is not accumulating, this property returns a null value.
AGV agv2;
if (agv1.accumAheadAGV)
agv2 = agv1.accumAheadAGV;
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AGV .ampHours
readonly double ampHours
Description
Gets the number of amp hours remaining in the AGV's battery.
double ampHoursLeft = agv.ampHours;
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AGV .batteryLevel
double batteryLevel
Description
Gets or sets the ratio of (amp hours remaining)/(total amp hours) as a percentage.
double batteryLevel = agv.batterLevel;
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AGV .currentCP
treenode currentCP
Description
Gets or sets the current control point for this AGV.
treenode cp = agv.currentCP;
agv.currentCP = Model.find("MyCP");
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AGV .destination
readonly treenode destination
Description
Gets the current destination of the AGV.
If the destination is a FixedResource connected to a ControlPoint, this property will return the FixedResource
treenode destination = agv.destination;
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AGV .destinationCP
readonly treenode destinationCP
Description
Gets the current desination control point of the AGV.
treenode destinationCP = agv.destinationCP;
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AGV .finalDestinationCP
readonly treenode finalDestinationCP
Description
Gets the final destination control point of the AGV.
The final destination control point can be changed when
redirect () is called with REDIRECT_AS_FINAL.
treenode finalDest = agv.finalDestinationCP;
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AGV .originCP
readonly treenode originCP
Description
Gets the origin control point of the AGV.
treenode originCP = agv.originCP;
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AGV .proximityState
readonly int proximityState
Description
Gets the current proximity state of the AGV.
A 0 indicates unrestricted. A 1 indicates that the AGV is stopped because of the AGV ahead of it.
if (agv.proximityState) {
// handle a stopped agv
...
}
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readonly double speed
Description
Gets the current speed of the AGV.
double agvSpeed = agv.speed;
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readonly treenode te
Description
Provides access to Object methods and properties for this AGV.
treenode te = agv.te;
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AGV .attachTrailer()
Parameters
trailer
The object that will trail the AGV
gap
The trailer's distance from the next trailer or AGV
behind
Sets the position of the trailer. Can be 0 or 1: 0 is ahead, 1 is behind
detachRule
Sets the detach mode of the AGV. Can be 0 or 1: 0 is manual, 1 is automatic
Description
Attaches the given object as a trailer on the AGV.
If you attach the trailer using the manual detach mode, you must call detachTrailer() to detach the trailer.
agv.attachTrailer(trailerObj, 0.1, 1, 0);
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AGV .detachTrailer()
Parameters
trailer
The trailer to detach from the AGV
Description
Detaches the given trailer from the AGV.
agv.detachTrailer(trailerObj);
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AGV .redirect()
Parameters
newDest
The new desination for the AGV to travel to
mode
Determines what happens on redirect. Can have one of 4 values: REDIRECT_AND_WAIT - if not redirected before arrival, the agv will wait at the destination until redirected
REDIRECT_AS_FINAL - the destination becomes the new final destination for the agv
REDIRECT_AND_CONTINUE_ON_ARRIVAL - the agv will continue to the final destination after arriving at the intermediate destination
REDIRECT_AND_CONTINUE_ON_PRE_ARRIVAL - the agv will continue to the final destination after pre-arriving at the intermediate destination (it will not decelerate to a stop)
Description
Redirects the AGV to a new destination, based on the given mode.
agv.redirect(newDest, REDIRECT_AS_FINAL);
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AGV .startRecharge()
Returns
double
The amount of time a full recharge will take
Description
Begins recharging the AGV's battery.
The battery recharges at the rate defined by the AGV type. Once the battery is fully recharged, recharging stops.
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Parameters
te
A TaskExecuter that is connected to the AGV network as an AGV Traveler.
Returns
Description
Creates an AGV object based on the given TaskExecuter.
An AGV object can only be accessed by calling this method. Casting from a treenode is not correct.
AGV agv = AGV(te); // correct
AGV agv = te; // incorrect