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- program
- array xs(10)
- array wart(5)
- granica1:=140
- granica2:=170
- i:=0
- x:=0
- y:=0
- glosnik(2,Choose_continuous_simulation))
- ir(nt)
- egzekucja
- glosnik(2,Waiting_for_the_workpiece_in_position_3)
- repeat
- kamera(1)
- until n=3
- repeat
- if xs(1) > 203 .&. xs(1) < 229
- i:= 1
- endif
- if xs(2) > 203 .&. xs(2) < 229
- i:= 1
- endif
- if xs(3) > 203 .&. xs(3) < 229
- i:= 1
- endif
- if xs(4) > 203 .&. xs(4) < 229
- i:= 1
- endif
- if xs(1) > 77 .&. xs(1) < 105
- x:= 1
- endif
- if xs(2) > 77 .&. xs(2) < 105
- x:= 1
- endif
- if xs(1) > 19 .&. xs(1) < 40
- y:= 1
- endif
- if i = 1 .&. x = 0
- ir(go)
- ir(mc_120,125)
- ir(gc)
- ir(mc_130,135)
- ir(mc_95,90)
- ir(go)
- ir(mc_85,80)
- else
- if i = 1 .&. x = 1 .&. y = 0
- ir(go)
- ir(mc_120,125)
- ir(gc)
- ir(mc_130,135)
- ir(mc_95,90)
- ir(go)
- ir(mc_85,80)
- endif
- endif
- until 2
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