| 4. Sample program |
|
|
[Robot program] |
|
1st unit’s RCX40 | 2nd unit’s RCX142 |
‘INIT ROUTINE | ‘INIT ROUTINE |
RESET SO2() | RESET SO2() |
RESET SO4() | RESET SO4() |
RESET DO4() | RESET DO4() |
A=101 | B=201 |
‘MAIN ROUTINE | ‘MAIN ROUTINE |
MOVE P,P100,Z=0 | MOVE P,P200,Z=0 |
GOSUB *PICK | GOSUB *PICK |
*ST1: | *ST2: |
MOVE P,P[A],Z=0 | WAIT SI(41)=1 |
GOSUB *PLACE | SO(41)=1 |
MOVE P,P100,Z=0 | WAIT SI(41)=0 |
SO(41)=1 | SO(41)=0 |
WAIT SI(41)=1 | WAIT SI(40)=1 |
SO(41)=0 | B=SI(23,22,21,20) |
WAIT SI(41)=0 | SO(40)=1 |
WAIT SI(40)=0 | |
SO(40)=1 | SO(40)=0 |
WAIT SI(40)=1 | B=B+200 |
SO(40)=0 | MOVE P,P[B],Z=0 |
WAIT SI(40)=0 | GOSUB *PLACE |
SO(23,22,21,20)=0 | MOVE P,P200,Z=0 |
GOSUB *PICK | SO(42)=1 |
WAIT SI(42)=1 | WAIT SI(42)=1 |
SO(42)=1 | SO(42)=0 |
WAIT SI(42)=0 | WAIT SI(42)=0 |
SO(42)=0 | GOSUB *PICK |
A=A+1 | GOTO *ST2 |
IF A>108 THEN | HALT |
A=101 | ‘SUB ROUTINE FOR PICK |
DO(47)=1 | *PICK: |
WAIT DI(47)=1 | DO(40)=1 |
DO(47)=0 | DRIVE(3,P221),S=20 |
ENDIF | WAIT ARM(3) |
GOTO *ST1 | DO(40)=0 |
HALT | DELAY 500 |
‘SUB ROUTINE FOR PICK | RETURN |
*PICK: | ‘SUB ROUTINE FOR PLACE |
DO(40)=1 | *PLACE: |
DRIVE(3,P121),S=20 | DRIVE(3,P222),S=20 |
WAIT ARM(3) | WAIT ARM(3) |
DO(40)=0 | DO(40)=1 |
DELAY 500 | DELAY 500 |
RETURN | RETURN |
‘‘SUB ROUTINE FOR PLACE |
|
*PLACE: |
|
DRIVE(3,P122),S=20 |
|
WAIT ARM(3) |
|
DO(40)=1 |
|
DELAY 500 |
|
RETURN |
|
5
Specifications
