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Task3.prg
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495 lines (432 loc) · 14.9 KB
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Integer TRAY
Integer HB
Integer HT
Integer ITEM_POS
Integer ITEM_TYPE
Integer Token1(3)
Integer Block1(3)
Integer Token2(3)
Integer Block2(3)
Integer H
Function Task3
Wait Sw(2) = On
Init:
Motor On
Power High
Speed 30
Accel 30, 30
SpeedS 500
AccelS 5000
Tool 1
Go START
Wait Sw(2) = On
Xqt QuantityCheck
Do While Sw(2) = On
If Sw(0) = On Then
Halt QuantityCheck
EndIf
If Sw(1) = On Then
Quit QuantityCheck
Reset
GoTo Init
EndIf
If Sw(3) = On Then
Quit QuantityCheck
GoTo Repositioning
EndIf
If Sw(4) = On Then
Quit QuantityCheck
GoTo Random
EndIf
Loop
Quit QuantityCheck
Repositioning:
Xqt BlueButton
Do While Sw(2) = On
If Sw(0) = On Then
Halt BlueButton
Else
Resume BlueButton
EndIf
If Sw(1) = On Then
Quit BlueButton
Reset
GoTo Init
EndIf
If Sw(4) = On Then
Quit BlueButton
GoTo Random
EndIf
Loop
Quit BlueButton
Random:
Xqt WhiteButton
Do While Sw(2) = On
If Sw(0) = On Then
Halt WhiteButton
Else
Resume WhiteButton
EndIf
If Sw(1) = On Then
Quit WhiteButton
Reset
GoTo Init
EndIf
If Sw(4) = On Then
Quit WhiteButton
GoTo Random
EndIf
Loop
Fend
Function QuantityCheck
For TRAY = 1 To 2
If TRAY = 1 Then
For ITEM_TYPE = 0 To 1
For ITEM_POS = 0 To 2
Go PT1 +Z(20) +Y(ITEM_POS * 30.7) +X(ITEM_TYPE * 30) /2 CP
Go PT1 +Y(ITEM_POS * 30.7) +X(ITEM_TYPE * 30) /2
On 8
Wait 0.5
If ITEM_TYPE = 0 Then
Token1(ITEM_POS) = Sw(17)
If Token1(ITEM_POS) = 1 Then
Print "Token detected"
Else
Print "Token not detected"
EndIf
Else
Block1(ITEM_POS) = Sw(17)
If Block1(ITEM_POS) = 1 Then
Print "Block detected"
Else
Print "Block not detected"
EndIf
EndIf
Off 8
Go PT1 +Z(20) +Y(ITEM_POS * 30.7) +X(ITEM_TYPE * 30) /2 CP
Next
Next
Else
For ITEM_TYPE = 0 To 1
For ITEM_POS = 0 To 2
Go PT2 +Z(20) +Y(ITEM_POS * 30.7) +X(ITEM_TYPE * 30) /2 CP
Go PT2 +Y(ITEM_POS * 30.7) +X(ITEM_TYPE * 30) +Z(-ITEM_POS / 2) /2
On 8
Wait 0.5
If ITEM_TYPE = 0 Then
Token2(ITEM_POS) = Sw(17)
If Token2(ITEM_POS) = 1 Then
Print "Token detected"
Else
Print "Token not detected"
EndIf
Else
Block2(ITEM_POS) = Sw(17)
If Block2(ITEM_POS) = 1 Then
Print "Block detected"
Else
Print "Block not detected"
EndIf
EndIf
Off 8
Go PT2 +Z(20) +Y(ITEM_POS * 30.7) +X(ITEM_TYPE * 30) /2 CP
Next
Next
EndIf
Next
HB = 6
Go BF +Z(20) +Z(HB * 6) /2
On 8
Do While Sw(17) = 0
Go BF +Z(HB * 6) /2
Wait 0.5
HB = HB - 1
Loop
Off 8
Wait 0.5
Go BF +Z(20) +Z(HB * 6) /2
HB = HB + 2
Print "Number of Blocks in the feeder", HB
HT = 6
Go TF +Z(20) +Z(HT * 6) +Y(10) /2
On 8
Do While Sw(17) = 0
Go TF +Z(HT * 6) /2
Wait 0.5
HT = HT - 1
Loop
Off 8
Wait 0.5
Go TF +Z(20) +Z(HT * 6) /2
HT = HT + 2
Print "Number of Tokens in the feeder", HT
Go START
Fend
Function CallPnP
For TRAY = 1 To 2
If TRAY = 1 Then
For ITEM_TYPE = 0 To 1
For ITEM_POS = 0 To 2
If ITEM_TYPE = 0 Then
If Token1(ITEM_POS) = On Then
PickandPlace()
EndIf
Else
If Block1(ITEM_POS) = On Then
PickandPlace()
EndIf
EndIf
Next
Next
Else
For ITEM_TYPE = 0 To 1
For ITEM_POS = 0 To 2
If ITEM_TYPE = 0 Then
If Token2(ITEM_POS) = On Then
PickandPlace()
EndIf
Else
If Block2(ITEM_POS) = On Then
PickandPlace()
EndIf
EndIf
Next
Next
EndIf
Next
Fend
Function PickandPlace
Print "Executing Pick and Place operation"
If TRAY = 1 Then
Go PT1 +Z(20) +Y(ITEM_POS * 30.7) +X(ITEM_TYPE * 30) /2 CP ' Secure Pick
Go PT1 +Y(ITEM_POS * 30.7) +X(ITEM_TYPE * 30) +Z(-ITEM_POS / 2) +X(-ITEM_TYPE / 2) /2 ' Pick
On 8
Wait 0.5
Go PT1 +Z(20) +Y(ITEM_POS * 30.7) +X(ITEM_TYPE * 30) /2 CP ' Secure Pick
If ITEM_TYPE = 0 Then
Go TA +Z(15) +Y(5) +X(5) /2 CP ' Secure Token Aligner
Go TA ' Token Aligner
Off 8
Go TA +Y(-10) /2
Go TA +Y(-10) +Z(10) /2 CP
Go TA +Z(10) /2 CP ' Secure Token Aligner
Go TA /2 ' Token Aligner
On 8
Wait 0.5
Go TA +Z(10) /2 CP ' Secure Token Aligner
Go TF +Z(20) +Z(HT * 6) +Y(10) /2 CP
Go TF +Z(HT * 6) +Z(5) /2
Off 8
Wait 0.5
Go TF +Z(20) +Z(HT * 6) +Y(10) /2 CP
HT = HT + 1
Else
Go BA +Z(10) +Y(5) +X(5) /2 ' Secure Block Aligner
Go BA +Y(1) /2 '' Block Aligner
Go BA +Y(-1) +X(-1) /2
Off 8
Go BA +Y(-1) +X(-1) +Z(10) /2
Go BA +Z(10) /2 ' Secure Block Aligner
Go BA /2 ' Block Aligner
On 8
Wait 0.5
Go BA +Z(10) /2 ' Secure Block Aligner
Go BF +Z(20) +Z(HB * 6) +Y(5) +X(5) /2 CP
Go BF +Z(HB * 6) +Z(5) /2
Off 8
Wait 0.5
Go BF +Z(20) +Z(HB * 6) /2 CP
HB = HB + 1
EndIf
Else
Go PT2 +Z(20) +Y(ITEM_POS * 30.7) +X(ITEM_TYPE * 30) /2 CP ' Secure Pick
Go PT2 +Y(ITEM_POS * 30.7) +X(ITEM_TYPE * 30) +Z(-ITEM_POS / 2) +X(-ITEM_TYPE / 2) /2 ' Pick
On 8
Wait 0.5
Go PT2 +Z(20) +Y(ITEM_POS * 30.7) +X(ITEM_TYPE * 30) /2 CP ' Secure Pick
If ITEM_TYPE = 0 Then
Go TA +Z(15) +Y(5) +X(5) /2 CP ' Secure Token Aligner
Go TA ' Token Aligner
Off 8
Go TA +Y(-10) /2
Go TA +Y(-10) +Z(10) /2 CP
Go TA +Z(10) /2 CP ' Secure Token Aligner
Go TA /2 ' Token Aligner
On 8
Wait 0.2
Go TA +Z(10) /2 CP ' Secure Token Aligner
Go TF +Z(20) +Z(HT * 6) +Y(10) /2 CP
Go TF +Z(HT * 6) +Z(5) /2
Off 8
Wait 0.5
Go TF +Z(20) +Z(HT * 6) /2 CP
HT = HT + 1
Else
Go BA +Z(10) +Y(5) +X(5) /2 ' Secure Block Aligner
Go BA +Y(1) /2 '' Block Aligner
Go BA +Y(-1) +X(-1) /2
Off 8
Go BA +Y(-1) +X(-1) +Z(10) /2
Go BA +Z(10) /2 ' Secure Block Aligner
Go BA /2 ' Block Aligner
On 8
Wait 0.5
Go BA +Z(10) /2 ' Secure Block Aligner
Go BF +Z(20) +Z(HB * 6) +Y(5) +X(5) /2 CP
Go BF +Z(HB * 6) +Z(5) /2
Off 8
Wait 0.5
Go BF +Z(20) +Z(HB * 6) /2 CP
HB = HB + 1
EndIf
EndIf
Fend
Function RandomStack
Integer RandomTorB
Integer Shift
Do While HT > 0 And HB > 0
RandomTorB = Int(Rnd(2))
If RandomTorB = 0 Then 'Token
Print "Token was randomly chosen"
If HT > 0 Then
Go TF +Z((HT - 1) * 6) +Z(20) +Y(10) /2 CP
Go TF +Z((HT - 1) * 6) /2
On 8
Wait 0.5
Go TF +Z((HT - 1) * 6) +Z(10) /2
Go TF +Z((HT - 1) * 6) +Z(10) +Z(H * 6) +Y(10) /2 CP
HT = HT - 1
Go TA1 +Z(20) +Z(H * 6) /2 CP
Go TA1 +Z(H * 6) +Z(1) +X(-1) /2
Off 8
Go TA1 +Z(20) +Z(H * 6) /2 CP
H = H + 1
EndIf
If HT = 0 Then
Print "No more tokens available"
EndIf
Else
Shift = Int(Rnd(2))
If Shift = 0 Then
Print "Block was randomly chosen"
If HB > 0 Then
Go BF +Z((HB - 1) * 6) +Z(10) +Y(10) /2 CP
Go BF +Z((HB - 1) * 6) /2
On 8
Wait 0.5
Go BF +Z((HB - 1) * 6) +Z(10) /2
Go BF +Z((HB - 1) * 6) +Z(10) +Z(H * 6) +Y(10) /2 CP
HB = HB - 1
Go BA +Z(20) +Z(H * 6) +Y(5) +X(5) /2 CP
Go BA +Z(H * 6) +Z(1) +X(-1.5) /2
Off 8
Go BA +Z(20) +Z(H * 6) /2 CP
H = H + 1
EndIf
If HB = 0 Then
Print "No more blocks available"
EndIf
Else 'Shifted Block
Print "Shifted Block was randomly chosen"
If HB > 0 Then
Go BF +Z((HB - 1) * 6) +Z(10) +Y(10) /2 CP
Go BF +Z((HB - 1) * 6) /2
On 8
Wait 0.5
Go BF +Z((HB - 1) * 6) +Z(10) /2
Go BF +Z((HB - 1) * 6) +Z(10) +Z(H * 6) +Y(10) +X(5) /2 CP
HB = HB - 1
Go BA +Z(20) +Z(H * 6) /2 CP
Go BA1 +Z(20) +Z(H * 6) +Y(5) +X(5) /2
Go BA1 +Z(H * 6) /2
Off 8
Go BA1 +Z(20) +Z(H * 6) /2 CP
H = H + 1
EndIf
If HB = 0 Then
Print "No more blocks available"
EndIf
EndIf
EndIf
Loop
Fend
Function PartCheck
Integer Check1
Integer Check2
Do While H > 0
Go TA1 +Z(20) +Z((H - 1) * 6) /2 CP
Go TA1 +Z(20) +Z((H - 1) * 6) +Y(8) /2 CP 'Check for normal block
On 8
Go TA1 +Z((H - 1) * 6) +Y(8) /2 'Distance
Wait 0.5
Check1 = Sw(17)
Off 8
Wait 0.5
Go TA1 +Z(20) +Z((H - 1) * 6) +Y(8) /2 CP
Go TA1 +Z(20) +Z((H - 1) * 6) /2 CP
Go TA1 +Z(20) +Z((H - 1) * 6) +X(7) /2 CP 'Check for Shifted block
On 8
Go TA1 +Z((H - 1) * 6) +X(7) /2 'Distance
Wait 0.5
Check2 = Sw(17)
Off 8
Wait 0.5
Go TA1 +Z(20) +Z((H - 1) * 6) /2
If Check1 = 1 And Check2 = 0 Then
Print "Non-shifted Block Detected"
Go BA +Z((H - 1) * 6) +Z(10) /2
Go BA +Z((H - 1) * 6) /2
On 8
Wait 0.5
Go BA +Z((H - 1) * 6) +Z(HB * 6) +Z(20) /2
Go BF +Z(HB * 6) +Z(10) +Z((H - 1) * 6) +X(5) +Y(5) /2 CP
Go BF +Z(HB * 6) +Z(2) /2
Off 8
Wait 0.5
Go BF +Z(HB * 6) +Z(10) +Z((H - 1) * 6) +X(5) +Y(5) /2 CP
HB = HB + 1
H = H - 1
EndIf
If Check1 = 0 And Check2 = 1 Then
Print "Shifted Block Detected"
Go BA1 +Z((H - 1) * 6) +Z(10) /2
Go BA1 +Z((H - 1) * 6) /2
On 8
Wait 0.5
Go BA1 +Z((H - 1) * 6) +Z(HB * 6) +Z(20) /2
Go BF +Z(HB * 6) +Z(10) +Z((H - 1) * 6) +X(5) +Y(5) /2 CP
Go BF +Z(HB * 6) +Z(2) /2
Off 8
Wait 0.5
Go BF +Z(HB * 6) +Z(10) +Z((H - 1) * 6) +X(5) +Y(5) /2 CP
HB = HB + 1
H = H - 1
EndIf
If Check1 = 0 And Check2 = 0 Then
Print "Token Detected"
Go TA1 +Z((H - 1) * 6) +Z(10) /2
Go TA1 +Z((H - 1) * 6) /2
On 8
Wait 0.5
Go TA1 +Z((H - 1) * 6) +Z(HT * 6) +Z(20) /2
Go TF +Z(HT * 6) +Z(10) +Z((H - 1) * 6) +Y(5) /2 CP
Go TF +Z(HT * 6) +Z(2) /2
Off 8
Wait 0.5
Go TF +Z(HT * 6) +Z(10) +Y(5) /2 CP
HT = HT + 1
H = H - 1
EndIf
Loop
Fend
Function BlueButton
CallPnP()
Fend
Function WhiteButton
Do While HB > 3 And HT > 3
RandomStack()
Loop
If H > 0 Then
PartCheck()
EndIf
Fend