RS232 device

'!TITLE "<Title>"           '程序標題
PROGRAM PRO1                '程序名定義
COM_ENCOM #1
TAKEARM                     '獲取手臂控制權
DEFINT Z,opentime                  '設變數Z為整數變數
DEFINT laserbutton,laser,ontime,ctime
DEFSTR Q


MOVE P,J0                   '以自由路境移動到初始位置J0
FLUSH #1                    '清空輸入緩衝器 頻道編號ch2
PRINT #1,"S"            '從RS232C向外部輸出字串"S"
RESET IO[68]
SET IO[69]
'----------------------------------------------------------------------

*L2:

FLUSH #1                              '清空輸入緩衝器 頻道編號ch2
INPUT #1,J[10],Z,laserbutton      '輸入10個值(6個角度J[10],1個速度Z,1個判斷用laserbutton)

'IF (laserbutton=1) THEN *L5

'IF laserbutton=1 THEN *OnLaser

J1=J10
EXTSPEED Z


IOBLOCK ON

IF (laserbutton = 1) THEN SET IO[68]
IF (laserbutton = 1) THEN RESET IO[69]
IF (laserbutton = 0) THEN SET IO[69]
IF (laserbutton = 0) THEN RESET IO[68]

MOVE P,@P J1

IOBLOCK OFF

DO
PRINT #1,"S"
FLUSH #1
INPUT #1,Q,WTIME=10
IF Q="q" THEN EXIT DO
LOOP

LET Q=" "



GOTO *L2                 '並移到*L2起頭位置

'----------------------------------------------------------------------

*L5:
J1=J10

EXTSPEED Z
MOVE P, J1


SET IO[25]     'I/O[25] 打開雷射筆

Delay 1000       '延遲1000ms(1s)

RESET IO[25]  'I/O[25] 關閉雷射筆

DO
PRINT #1,"S"
FLUSH #1
INPUT #1,Q,WTIME=10
IF Q = "q" THEN EXIT DO
LOOP

LET Q=" "

GOTO *L2                 '並移到*L2起頭位置

'----------------------------------------------------------------------
*OnLaser:

J1=J10
EXTSPEED Z
MOVE P, J1

IF IO[25] THEN
    ctime=TIMER
    IF (ABS(ctime-ontime) >= opentime ) THEN RESET IO[25]

ELSE

SET IO[25]
ontime = TIMER

ENDIF


DO
PRINT #1,"S"
FLUSH #1
INPUT #1,Q,WTIME=10
IF Q="q" THEN EXIT DO
LOOP

LET Q=" "

GOTO *L2
'----------------------------------------------------------------------