'****************************************************************
'*  Name    : UNTITLED.BAS                                      *
'*  Author  : Alwin Winius                                      *
'*  Notice  : Copyright (c)                                     *
'*          : All Rights Reserved                               *
'*  Date    : 8-11-2011                                         *
'*  Version : 1.0                                               *
'*  Notes   :                                                   *
'*          :                                                   *
'****************************************************************
Device 16F690                ;We gebruiken een 16F690 type
Config INTRC_OSC_NOCLKOUT, WDT_OFF, PWRTE_ON, MCLRE_OFF, CP_OFF, CPD_OFF, BOR_OFF, IESO_OFF, FCMEN_OFF

All_Digital TRUE              ;Alle ingangen digitaal
         ;76543210
ADCON0 = %00000000
ANSEL =  %00000000
ANSELH = %00000000
WPUA =   %00000000
IOCA =   %00000000

        ;76543210
TRISA = %00000111
TRISB = %01010000
TRISC = %00000111

Dim Status1 As Bit
Dim Status2 As Bit
Dim Status3 As Bit
Dim Status4 As Bit
Dim Status5 As Bit
Dim Status6 As Bit
Dim Status7 As Bit
Dim Status8 As Bit
Dim Status9 As Bit
Dim Status10 As Bit

Dim Vertraging1 As Byte
Vertraging1 = 50

Symbol Pallet_detectie1 = PORTA.0
Symbol Pallet_rust1     = PORTA.1
Symbol Pallet_vol1      = PORTA.2
Symbol Inladen1         = PORTA.4
Symbol Uitladen1        = PORTA.5

Symbol Pallet_detectie2 = PORTC.0
Symbol Pallet_rust2     = PORTC.1
Symbol Pallet_vol2      = PORTC.2
Symbol Inladen2         = PORTC.4
Symbol Uitladen2        = PORTC.5

Symbol Programswitch    = PORTB.6




While 1 = 1
;/////////////////////////PROGRAM MAIN//////////////////////////////////////////
Program_main:
    If Programswitch = 1 Then                                         ;Als programmaswitch hoog is da programma laden uitvoeren. (pull up weerstand)
        GoTo Program_laden
    EndIf

    If Programswitch = 0 Then                                         ;Als programmaswitch laag is dan programma lossen uitvoeren. (gebruikerinput)
        GoTo Program_lossen
    EndIf

;/////////////////////////PROGRAM LADEN BAND 1//////////////////////////////////
Program_laden:

    Status1 = 0
    Status2 = 0
    Status3 = 0
    Status4 = 0
    Status5 = 0
    Status6 = 0

If Programswitch = 0 Then                                             ;Kijken of voorwaarde nog steeds actief is.
    GoTo Program_main                                                 ;Indien voorwaarde veranderd is programma sluiten en terug naar programma lossen
EndIf

  Repeat
  If Pallet_detectie1 = 1 And Pallet_vol1 = 0 Then                    ;Inladen pallets starten
    Low Inladen1
    DelayMS Vertraging1
    Status3 = 0

  ElseIf Pallet_rust1 = 1 And Status1 = 0 Then                        ;stoppen pallets bij rust positie eerste pallet. (1 puls)
    High Inladen1
    DelayMS Vertraging1
    Status1 = 1

  ElseIf Pallet_rust1 = 0 And Status1 = 1 And Status2 = 0 Then        ;puls 1 registreren.
    Status2 = 1
    DelayMS Vertraging1

  ElseIf Pallet_rust1 = 1 And Status2 = 1 Then                        ;puls 2 registreren.
    Status2 = 0
    Status3 = Status3 + 1
    DelayMS Vertraging1

  ElseIf Status3 = 3 Then                                             ;stoppen pallets nadat 1 pallet reeds geladen is. (3 pulsen)
    High Inladen1
    Status3 = 0
    DelayMS Vertraging1

  ElseIf Pallet_vol1 = 1 Then                                         ;stoppen lopende band bij band vol
    High Inladen1
    DelayMS Vertraging1
  EndIf



;/////////////////////////PROGRAM LADEN BAND 1//////////////////////////////////
  If Pallet_detectie2 = 1 And Pallet_vol2 = 0 Then                  ;Inladen starten
    Low Inladen2
    DelayMS Vertraging1
    Status6 = 0


  ElseIf Pallet_rust2 = 1 And Status4 = 0 Then                      ;stoppen pallets bij rust positie eerste lading. (1 puls)
    High Inladen2
    DelayMS Vertraging1
    Status4 = 1

  ElseIf Pallet_rust2 = 0 And Status4 = 1 And Status5 = 0 Then      ;puls 1 registrerem
    Status2 = 1
    DelayMS Vertraging1

  ElseIf Pallet_rust2 = 1 And Status5 = 1 Then                      ;Puls 2 registreren
    Status5 = 0
    Status6 = Status6 + 1
    DelayMS Vertraging1

  ElseIf Status6 = 3 Then                                           ;stoppen pallets nadat 1 pallet reeds geladen is. (3 pulsen)
    High Inladen2
    Status6 = 0
    DelayMS Vertraging1

  ElseIf Pallet_vol2 = 1 Then                                       ;stoppen lopende band bij band vol
    High Inladen2
    DelayMS Vertraging1
  EndIf
Until Programswitch = 0                                             ;Programma uitvoeren tot programswitch is veranderd


;////////////////////////PROGRAM LOSSEN/////////////////////////////////////////
Program_lossen:

    Status7 = 0
    Status8 = 0
    Status9 = 0
    Status10 = 0

If PORTB.6 = 1 Then                                                 ;Kijken of voorwaarde nog steeds actief is.
    GoTo Program_main                                               ;Indien voorwaarde veranderd is programma afsluiten en terug naar laden
EndIf

Repeat

If Pallet_detectie1 = 0 And Status7 = 0 Then                        ;Pallets uitladen band starten.
  Low Uitladen1
  Status7 = 1
  DelayMS Vertraging1

ElseIf Pallet_detectie1 = 1 And Status7 = 1 Then                    ;1ste puls registeren
  Status7 = 0
  Status8 = Status8 + 1
  DelayMS Vertraging1

ElseIf Status8 = 2 Then                                             ;2de puls uitladen stoppen
  High Uitladen1
  DelayMS Vertraging1
  Status8 = 0

EndIf

If Pallet_detectie2 = 0 And Status9 = 0 Then                        ;pallets uitladen, band starten.
  Low Uitladen2
  Status9 = 1
  DelayMS Vertraging1

ElseIf Pallet_detectie2 = 1 And Status9 = 1 Then                    ;1ste puls registeren
  Status9 = 0
  Status10 = Status10 + 1
  DelayMS Vertraging1

ElseIf Status10 = 2 Then                                            ;2de puls uitladen stoppen
  High Uitladen2
  DelayMS Vertraging1
  Status10 = 0

EndIf

Until Programswitch = 1                                             ;Programma uitvoeren totdat programmaswitch veranderd.

Wend                                                                ;Einde programma

End