‘Code for Sorting Robot
‘Program by Tyler Funk, Richard Schoellhammer, Ethan Bressler

MCount = 0
HOpen 1
Mov P1
GoSub *ConnectCognex ‘subroutine used to connect cognex
While MCount = 0
EBRead #1, ,M, U, ANGLE1, ANGLE2 ‘read and name the desired output string
If M = 0 And U = 0 And M_In(14) = 0 Then
GoTo *ReRead
EndIf
If M = 1 And M_In(14) = 1 Then ‘conditional for detecting M on block
P3.C = -Rad(-ANGLE1 - 12) ‘calibrated from output string to reorient block while placing
Mov P2, +60
Mov P2
Dly 0.1
HClose 1
Dly 0.1
Mov P2, +120
Mov P3, +120
Mov P3
Dly 0.1
HOpen 1
Mov P3, +60
EndIf
If U = 1 And M_In(14) = 1 Then ‘conditional for detecting U on block
Dly 0.1
P4.C = -Rad(-ANGLE2 - 98) ‘calibrated from output string to reorient block while placing
Dly 0.5
Mov P2, +60
Mov P2
Dly 0.1
HClose 1
Dly 0.1
Mov P2, +120
Mov P4, +120
Mov P4
Dly 0.1
HOpen 1
Mov P4, +60
EndIf
If M = 0 And M_In(14) = 1 Then
EndIf
If U = 0 And M_In(14) = 1 Then
EndIf
WEnd
*ReRead
Dly 0.5
End
*ConnectCognex ‘connects to cognex program
If M_NvOpen(1) <> 1 Then
Dly 0.1
NVOpen "COM2:" As #1
EndIf
Wait M_NvOpen(1) = 1
NVRun #1, "SortCam1" ‘finds the program to open
Return