LANGUAGE: Karel

CREATED: 2017-04-20

MODIFIED: 2019-11-21

CODE   

/PROG  BSTARTRESETLOCK
/ATTR
OWNER  = MNEDITOR;
COMMENT  = “StartResLockCell”;
PROG_SIZE = 3126;
CREATE  = DATE 17-04-20  TIME 09:14:42;
MODIFIED = DATE 19-11-21  TIME 11:34:24;
FILE_NAME = BGLSTART;
VERSION  = 0;
LINE_COUNT = 114;
MEMORY_SIZE = 3458;
PROTECT  = READ_WRITE;
TCD:  STACK_SIZE = 0,
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
DEFAULT_GROUP = *,*,*,*,*;
CONTROL_CODE = 00000000 00000000;
/APPL
/MN
1:  –eg:Copyright (c) 2019 DIY-Robotics.com All rights reserved. ;
2:  –eg: ;
3:  –eg:Redistribution and use in source and binary forms, with or without ;
4:  –eg:modification, are permitted provided that the following conditions
:  are ;
5:  –eg:met: ;
6:  –eg: ;
7:  –eg:Redistributions of source code must retain the above copyright ;
8:  –eg:notice, this list of conditions and the following disclaimer. ;
9:  –eg:Redistributions in binary form must reproduce the above ;
10:  –eg:copyright notice, this list of conditions and the following
:  disclaimer ;
11:  –eg:in the documentation and/or other materials provided with the ;
12:  –eg:distribution. ;
13:  –eg:Neither the name of DIY-Robotics.com nor the names of its ;
14:  –eg:contributors may be used to endorse or promote products derived from ;
15:  –eg:this software without specific prior written permission. ;
16:  –eg: ;
17:  –eg:On reset la sequence si elle est plus grande que 0 et on depasse le
:  temps max ;
18:  IF (TIMER[20]>10 AND R[15:BGLTrackSeq]<>0),R[15:BGLTrackSeq]=(9001) ;
19:   ;
20:   ;
21:  IF (R[15:BGLTrackSeq]>9000 AND DI[2:StartBtn]=OFF AND DI[3:ResetBtn]=OFF AND DI[1:LockDoorBtn]=OFF) THEN ;
22:  $TIMER[20].$TIMER_VAL=0 ;
23:  R[15:BGLTrackSeq]=0    ;
24:  ENDIF ;
25:   ;
26:  –eg:Sequence Selection ;
27:  IF (R[15:BGLTrackSeq]=0) THEN ;
28:  $TIMER[20].$TIMER_VAL=0 ;
29:   ;
30:  IF (DI[6:FenceOK]=OFF AND DO[1:LockDoors]=ON),DO[1:LockDoors]=(OFF) ;
31:   ;
32:  IF (DI[1:LockDoorBtn]=ON),R[15:BGLTrackSeq]=(31) ;
33:  IF (DI[3:ResetBtn]=ON),R[15:BGLTrackSeq]=(11) ;
34:  IF (DI[2:StartBtn]=ON AND UO[2:System ready]=ON AND UO[1:Cmd enabled]=ON AND UO[3:Prg running]=OFF),R[15:BGLTrackSeq]=(21) ;
35:  ENDIF ;
36:   ;
37:   ;
38:   ;
39:  –eg:== RESET ROBOT == ;
40:  IF (R[15:BGLTrackSeq]=11) THEN ;
41:  F[1023:UIReset]=(ON) ;
42:   ;
43:  IF (TIMER[20]>3 AND DI[3:ResetBtn]=ON) THEN ;
44:  F[1022:UIStop]=(ON) ;
45:  R[15:BGLTrackSeq]=9999    ;
46:  ENDIF ;
47:   ;
48:  IF (DI[3:ResetBtn]=OFF),R[15:BGLTrackSeq]=(9999) ;
49:   ;
50:  ENDIF ;
51:   ;
52:  !END RESET ROBOT ;
53:   ;
54:  –eg:== DEPART ROBOT == ;
55:  IF (R[15:BGLTrackSeq]=21) THEN ;
56:  IF (F[10:MemTeachOff]=OFF),R[15:BGLTrackSeq]=(22) ;
57:  IF (F[10:MemTeachOff]=ON),R[15:BGLTrackSeq]=(29) ;
58:  ENDIF ;
59:   ;
60:  –eg:Si le teach a ete active on fait un cycle stop ;
61:  IF (R[15:BGLTrackSeq]=22) THEN ;
62:  F[1022:UIStop]=(ON) ;
63:  F[10:MemTeachOff]=(ON) ;
64:  R[15:BGLTrackSeq]=23    ;
65:  ENDIF ;
66:   ;
67:  –eg:Quand le programme est arrete on passe a l’autre etape ;
68:  IF (R[15:BGLTrackSeq]=23 AND F[1022:UIStop]=OFF AND UO[3:Prg running]=OFF) THEN ;
69:  R[15:BGLTrackSeq]=29    ;
70:  ENDIF ;
71:   ;
72:  –eg:On demarre le robot ;
73:  IF (R[15:BGLTrackSeq]=29) THEN ;
74:  F[1024:UIStart]=(ON) ;
75:  R[15:BGLTrackSeq]=9999    ;
76:  ENDIF ;
77:  !END START ROBOT ;
78:   ;
79:   ;
80:   ;
81:  –eg:Lock/Unlock Door Sequence ;
82:   ;
83:  –eg:1st Step ;
84:  IF (R[15:BGLTrackSeq]=31) THEN ;
85:  IF (TIMER[20]>3),R[15:BGLTrackSeq]=(32) ;
86:  IF (TIMER[20]<=3 AND DI[1:LockDoorBtn]=OFF),R[15:BGLTrackSeq]=(33) ;
87:  ENDIF ;
88:   ;
89:  –eg:Unlock Door ;
90:  IF (R[15:BGLTrackSeq]=32) THEN ;
91:  DO[1:LockDoors]=OFF ;
92:  R[15:BGLTrackSeq]=9999    ;
93:  ENDIF ;
94:   ;
95:  –eg:Lock Door ;
96:  IF (R[15:BGLTrackSeq]=33) THEN ;
97:  DO[1:LockDoors]=ON ;
98:  //IF (DI[6:FenceOK]=ON),DO[218:NX_Free]=(ON) ;
99:  IF (DI[6:FenceOK]=ON),R[15:BGLTrackSeq]=(100) ;
100:  IF (DI[6:FenceOK]=OFF AND TIMER[20]>2),R[15:BGLTrackSeq]=(32) ;
101:  ENDIF ;
102:   ;
103:  –eg:EuropMap73 ACK ;
104:  IF (R[15:BGLTrackSeq]=100 AND TIMER[20]>3) THEN ;
105:  DO[218:NX_Free]=ON ;
106:  R[15:BGLTrackSeq]=9999    ;
107:  ENDIF ;
108:   ;
109:  IF (DO[218:NX_Free]=ON),DO[218:NX_Free]=PULSE,1.0sec ;
110:   ;
111:   ;
112:  –eg:Lock/Unlock Door Seq. End Section ;
113:   ;
114:   ;
/POS
/END