API tools faq
paste
Advertisement
Guest User

Untitled

a guest
May 21st, 2019
77
0
Never
Add comment
Not a member of Pastebin yet? Sign Up, it unlocks many cool features!
text 8.61 KB | None | 0 0
raw download clone embed print report
  1. MODULE Module1
  2. VAR bool pirmaskartas:=TRUE;
  3. CONST robtarget Home:=[[679.548518297,-3.475463124,785.190542715],[0.445563926,-0.003982484,0.895208082,-0.007708267],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  4. CONST robtarget tarpinis:=[[1056.205080757,0,1143],[0.5,0,0.866025404,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  5. CONST robtarget nulinis:=[[0,0,0],[0,0,0,1],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  6. CONST robtarget nulinisKampu:=[[0,0,0],[0.766958477,0,0,-0.641120691],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  7. VAR robtarget point:=nulinis;
  8. VAR robtarget midpoint:=nulinis;
  9. VAR robtarget endpoint:=nulinis;
  10. VAR robtarget pointk:=nulinisKampu;
  11. VAR robtarget midpointk:=nulinisKampu;
  12. VAR robtarget endpointk:=nulinisKampu;
  13.  
  14. var num start_x;
  15. var num start_y;
  16. var num mid_x;
  17. var num mid_y;
  18. var num end_x;
  19. var num end_y;
  20. VAR num dir;
  21. PROC main()
  22. IF pirmaskartas THEN
  23. SetDO DO_baigtas250,0;
  24. SetDO DO_pasukti250Home,0;
  25. SetDO DO_pasukti250L,0;
  26. pirmaskartas:=FALSE;
  27. MoveL Home,v1000,z100,pen\WObj:=wobj0;
  28. SetDO DO_pasukti250L,1;
  29. WaitTime 1;
  30. SetDO DO_pasukti250L,0;
  31. WaitTime 2;
  32. SetDO DO_pasukti250Home,1;
  33. WaitTime 1;
  34. SetDO DO_pasukti250Home,0;
  35. WaitTime 2;
  36. SetDO DO_baigtas250,1;
  37. ENDIF
  38. MoveL Home,v1000,z100,pen\WObj:=wobj0;
  39. WaitDI DI_piesti250,1;
  40. SetDO DO_baigtas250,0;
  41. Path_10;
  42. SetDO DO_pasukti250L,1;
  43. WaitTime 0.5;
  44. SetDO DO_pasukti250L,0;
  45. WaitTime 2;
  46. Path_10kampu;
  47. SetDO DO_pasukti250Home,1;
  48. WaitTime 0.5;
  49. SetDO DO_pasukti250Home,0;
  50. WaitTime 2;
  51. SetDO DO_baigtas250,1;
  52. ENDPROC
  53. PROC Path_10()
  54. MoveL tarpinis,v1000,z100,pen\WObj:=wobj0;
  55. MoveL nulinis,v1000,z100,pen\WObj:=Box250;
  56.  
  57.  
  58. DL 0,120.1,300,156.3;
  59. DL 300,156.3,175,500;
  60. DL 175,500,0,343.69;
  61. DL 0,343.69,300,375;
  62. DC 75,250,150,-30 \clockwise;
  63. DC 75,250,150,210;
  64. DC 150,0,375,90;
  65. DC 150,500,375,90 \clockwise;
  66.  
  67.  
  68. MoveL tarpinis,v1000,z100,pen\WObj:=wobj0;
  69.  
  70. ENDPROC
  71.  
  72. PROC Path_10kampu()
  73. MoveL tarpinis,v1000,z100,pen\WObj:=wobj0;
  74. MoveL nulinisKampu,v1000,z100,pen\WObj:=Box250kampu;
  75.  
  76.  
  77. DLkampu 0,120.1,300,156.3;
  78. DLkampu 300,156.3,175,500;
  79. DLkampu 175,500,0,343.69;
  80. DLkampu 0,343.69,300,375;
  81.  
  82.  
  83. DCkampu 75,250,150,-30 \clockwise;
  84. DCkampu 75,250,150,210;
  85. DCkampu 150,0,375,90;
  86. DCkampu 150,500,375,90 \clockwise;
  87.  
  88. MoveL tarpinis,v1000,z100,pen\WObj:=wobj0;
  89. MoveL Home,v1000,z100,pen\WObj:=wobj0;
  90. ENDPROC
  91.  
  92. PROC D(num x, num y)
  93. point.trans:=[x,y,0];
  94. SingArea\Wrist;
  95. movel point,v1000,fine,pen\WObj:=Box250;
  96. setDO DO_draw250,1;
  97. ENDPROC
  98.  
  99. PROC Dkampu(num x, num y)
  100. point.trans:=[x,y,0];
  101. SingArea\Wrist;
  102. movel point,v1000,fine,pen\WObj:=Box250kampu;
  103. setDO DO_draw250,1;
  104. ENDPROC
  105.  
  106. PROC Ukampu(num x, num y)
  107. point.trans:=[x,y,-10];
  108. SingArea\Wrist;
  109. setDO DO_draw250,0;
  110. movel point,v1000,fine,pen\WObj:=Box250kampu;
  111. ENDPROC
  112.  
  113. PROC U(num x, num y)
  114. point.trans:=[x,y,-10];
  115. SingArea\Wrist;
  116. setDO DO_draw250,0;
  117. movel point,v1000,fine,pen\WObj:=Box250;
  118. ENDPROC
  119.  
  120.  
  121. PROC DL(num x0, num y0, num x1, num y1)
  122. ! Draws a 2D line from (x0,y0) to (x1,y1)
  123. U x0,y0;
  124. D x0, y0;
  125. D x1,y1;
  126. U x1,y1;
  127. ENDPROC
  128.  
  129. PROC DLkampu(num x0, num y0, num x1, num y1)
  130. ! Draws a 2D line from (x0,y0) to (x1,y1)
  131. Ukampu x0,y0;
  132. Dkampu x0, y0;
  133. Dkampu x1,y1;
  134. Ukampu x1,y1;
  135. ENDPROC
  136.  
  137. PROC DC(num center_x, num center_y, num radius, num start_angle,
  138. \switch clockwise, \num end_angle)
  139.  
  140. ! Draws a half-circle counter-clockwise from start_angle.
  141. ! Center_x || Define the circle center x coordinate on the workobject (0..210) on paper
  142. ! || Must be within the workobject!
  143. ! Center_y || Define the circle center y coordinate on the workobject (0..-290) on paper
  144. ! || Must be within the workobject!
  145. ! Radius || Define the circle radius, recommended range for default half-circle (0..145)
  146. ! || Must be within the workobject!
  147. ! Start angle || The starting angle for the circle arc relative to the x axis (0..360)
  148. ! TO DO: (OPTIONAL) || Enter "Clockwise" to draw the circle clockwise.
  149. ! TO DO: (OPTIONAL) || end_angle (0..360)
  150. ! TO DO: || Can draw more or less then half circle if end_angle is specified
  151.  
  152. IF Present (clockwise)
  153. THEN dir := 1;
  154. ELSE dir := -1;
  155. ENDIF
  156.  
  157. start_x := center_x + radius*sin(start_angle);
  158. start_y := center_y + radius*cos(start_angle);
  159. mid_x := center_x + radius*sin(start_angle + dir * 90);
  160. mid_y := center_y + radius*cos(start_angle + dir * 90);
  161. end_x := center_x + radius*sin(start_angle + dir * 180);
  162. end_y := center_y + radius*cos(start_angle + dir * 180);
  163.  
  164. IF start_x > 300 AND dir=1 THEN start_y:=start_y-Sqrt(Pow(radius,2)-pow((300-center_x),2)); start_x:=300; ENDIF
  165. IF start_x > 300 AND dir=-1 THEN start_y:=start_y+Sqrt(Pow(radius,2)-pow((300-center_x),2)); start_x:=300; ENDIF
  166.  
  167. IF end_x < 0 AND dir=1 then end_y:=end_y-Sqrt(Pow(radius,2)-pow((0-center_x),2)); end_x:=0; ENDIF
  168. IF end_x < 0 AND dir=-1 then end_y:=end_y+Sqrt(Pow(radius,2)-pow((0-center_x),2)); end_x:=0; ENDIF
  169.  
  170. midpoint.trans:=[mid_x,mid_y,0];
  171. endpoint.trans:=[end_x,end_y,0];
  172.  
  173. U start_x, start_y;
  174. D start_x, start_y;
  175.  
  176. MoveC midpoint,endpoint,v100,fine,pen,\WObj:=Box250;
  177.  
  178. U end_x, end_y;
  179. ENDPROC
  180.  
  181. PROC DCkampu(num center_x, num center_y, num radius, num start_angle,
  182. \switch clockwise, \num end_angle)
  183.  
  184. ! Draws a half-circle counter-clockwise from start_angle.
  185. ! Center_x || Define the circle center x coordinate on the workobject (0..210) on paper
  186. ! || Must be within the workobject!
  187. ! Center_y || Define the circle center y coordinate on the workobject (0..-290) on paper
  188. ! || Must be within the workobject!
  189. ! Radius || Define the circle radius, recommended range for default half-circle (0..145)
  190. ! || Must be within the workobject!
  191. ! Start angle || The starting angle for the circle arc relative to the x axis (0..360)
  192. ! TO DO: (OPTIONAL) || Enter "Clockwise" to draw the circle clockwise.
  193. ! TO DO: (OPTIONAL) || end_angle (0..360)
  194. ! TO DO: || Can draw more or less then half circle if end_angle is specified
  195.  
  196. IF Present (clockwise)
  197. THEN dir := 1;
  198. ELSE dir := -1;
  199. ENDIF
  200.  
  201. start_x := center_x + radius*sin(start_angle);
  202. start_y := center_y + radius*cos(start_angle);
  203. mid_x := center_x + radius*sin(start_angle + dir * 90);
  204. mid_y := center_y + radius*cos(start_angle + dir * 90);
  205. end_x := center_x + radius*sin(start_angle + dir * 180);
  206. end_y := center_y + radius*cos(start_angle + dir * 180);
  207.  
  208. IF start_x > 300 AND dir=1 THEN start_y:=start_y-Sqrt(Pow(radius,2)-pow((300-center_x),2)); start_x:=300; ENDIF
  209. IF start_x > 300 AND dir=-1 THEN start_y:=start_y+Sqrt(Pow(radius,2)-pow((300-center_x),2)); start_x:=300; ENDIF
  210.  
  211. IF end_x < 0 AND dir=1 then end_y:=end_y-Sqrt(Pow(radius,2)-pow((0-center_x),2)); end_x:=0; ENDIF
  212. IF end_x < 0 AND dir=-1 then end_y:=end_y+Sqrt(Pow(radius,2)-pow((0-center_x),2)); end_x:=0; ENDIF
  213.  
  214. midpointk.trans:=[mid_x,mid_y,0];
  215. endpointk.trans:=[end_x,end_y,0];
  216.  
  217. Ukampu start_x, start_y;
  218. Dkampu start_x, start_y;
  219.  
  220. MoveC midpointk,endpointk,v100,fine,pen,\WObj:=Box250kampu;
  221.  
  222. Ukampu end_x, end_y;
  223. ENDPROC
  224. PROC kampu()
  225. MoveL nulinisKampu,v1000,z100,pen\WObj:=Box250kampu;
  226. ENDPROC
  227. ENDMODULE
Advertisement
Add Comment
Please, Sign In to add comment
Advertisement
Public Pastes
Advertisement
We use cookies for various purposes including analytics. By continuing to use Pastebin, you agree to our use of cookies as described in the Cookies Policy.  OK, I Understand
Not a member of Pastebin yet?
Sign Up, it unlocks many cool features!