Rutina1: Practica2_3_Robotstudio

PROC matriu_p10()

        VAR intnum P10_X:= 0;
        VAR intnum P10_Y:= 0;
        p10aux := p10;
        COUNT := 0;
        TPErase;


        FOR j FROM 1 TO 3 DO

            MoveJ phome, v1000, z50, MyTool;
            WaitTime 2;

            FOR i FROM 1 TO 4 DO


            MoveJ p10aux, v1000, fine, MyTool;
                MoveL Offs(p10aux,0,-40,0), v1000, fine, MyTool;
                MoveL Offs(p10aux,30,-40,0), v1000, fine, MyTool;
                MoveL Offs(p10aux,30,0,0), v1000, fine, MyTool;
                MoveL Offs(p10aux,0,0,0), v1000, fine, MyTool;

                P10_Y := i*(-80);
                p10aux := Offs(p10,P10_X,P10_Y,0);
                COUNT := COUNT +1;
                TPWrite "Quadrats realitzats: "\Num:=COUNT;

                IF i < 4 THEN
                    MoveJ p0, v1000, z50, MyTool;
                    WaitTime 2;

                ENDIF



        ENDFOR

        P10_X:= j*(70);
        P10_Y:= 0;
        p10aux := Offs(p10,P10_X,P10_Y,0);



        ENDFOR





    ENDPROC