Rem *** ulesanne MITSU 3 . . ***
Rem *** pohiprogrammi algus. ***
Rem Punkt korvi kohal, kus haarats avatakse
Def Pos DROPPOS
Rem Sensor kaldtee lopus
DEF IO PART_AV = BIT,8
Rem Sensor detaili varvi lugemiseks
DEF IO B1 = BIT,900
Rem Muuduja detaili varvi lugemiseks
DEF INTE CYLTYPE
Ovrd 50
Spd 90
*start
dly 1
GoSub *MP_2
dly 1
GoTo *start
End
Rem *** ulesanne MITSU 3 . . ***
Rem *** pohiprogrammi lopp . ***
Rem
Rem
Rem ** SUBROUTINE *MP_2 .**
Rem ** ulesande lahendus **
Rem
*MP_2
dly 1
Rem detaili ootamine
GoSub *WD_1
Rem liikumine kaldtee loppu
Mov P1 + (0, 0, 200)
dly 1
HOpen 1
dly 1
Mov P1
dly 1
HClose 1
dly 1
Rem detaili viimine varvi lugemise kohta
Mov P2
HOpen 1
dly 1
Rem varvi lugeja suunamine detailile
Mov P3
dly 1
Rem detaili varvi lugemine
CYLTYPE = B1
Rem haaratsi avamise koha maaramine…
IF CYLTYPE = 0 THEN
Rem …musta detaili korral …
GoSub *BL
ELSE
Rem … ja valge detaili korral
GoSub *WH
ENDIF
Rem detaili votmine varvi lugemise kohast
Mov P2
dly 1
HClose 1
Rem detaili viimine korvi
dly 1
Mov P4
dly 1
Mov P5
dly 1
Mov P6
dly 1
Mov DROPPOS
dly 1
HOpen 1
dly 1
HClose 1
dly 1
HOpen 1
RETURN
Rem ** SUBROUTINE *MP_2 . lopp **
Rem ** SUBROUTINE *WD_1 **
Rem ** oota detaili . . **
Rem
*WD_1
IF PART_AV = 0 THEN *WD_1
DLY 3
IF PART_AV = 0 THEN *WD_1
Rem IP_N_FO = 1
RETURN
Rem ** SUBROUTINE *WD_1 lopp **
Rem ** SUBROUTINE *BL . . . . . . . . .**
Rem ** haaratsi avamise koha maaramine **
Rem ** musta detaili jaoks. . . . . . **
Rem
*BL
DROPPOS = P4
RETURN
Rem ** SUBROUTINE *BL lopp. . . . . . **
Rem ** SUBROUTINE *WH . . . . . . . . .**
Rem ** haaratsi avamise koha maaramine **
Rem ** valge detaili jaoks. . . . . . **
Rem
*WH
DROPPOS = P6
RETURN
Rem ** SUBROUTINE *WH lopp. . . . . . **