Disable Tasks in WebApp

AppStudio
1

Hello everyone,

For our IRC5 controllers, we used to create custom interfaces using C# and the PC SDK. We have some functions that require moving one robot at a time, for example, sending a specific robot to its reference point.

To achieve this in IRC5, we would disable the specific tasks. Here is a simplified snippet of our approach:

this.GestorRotinasRob4 = new GestorRotinas(this.Controller, this.TaskRobo4, this);
this.GestorRotinasRob5 = new GestorRotinas(this.Controller, this.TaskRobo5, this);

and

private void mnuReferenciarR4_Click(object sender, EventArgs e)
{ this.GestorRotinasRob4.ExecutarRotina("ReferenciarRobo"); }

and

this.GestorRotinasRob4.MoverPPRotina("ProgAqueceMotores", "AquecimentoMotores", null);
this.GestorRotinasRob5.MoverPPRotina("ProgAqueceMotores", "AquecimentoMotores", null);
this.Controller.Rapid.Start();

However, we are now working with OmniCore and I’ve noticed that I can’t seem to disable a task, even when requesting mastership.

My questions are:

  1. Is it still possible to disable a specific task via code in OmniCore, or was this functionality removed/changed in RobotWare 7?

  2. If it is still possible, what is the correct way to achieve this?

  3. If it is no longer possible, what is the recommended workaround to run a routine for just one robot in a MultiMove system?

Thanks in advance for any guidance!