robo_prg_01

Waiti Input_1,On //press button to turn can crusher on
Label Start
Pmove <home>
Pmove Point_1 //become aligned with feeder
Waiti Input_10,On //wait for limit switch
Pmove Point_2 //get to position to pick up can
Grasp
Pmove Point_3 //lifted from can grabbing position
Pmove Point_4 //hover over dropping position
Release
Pmove Point_5 //move to a safe distance from pistons
Writeo Output_2,On //big piston crushes can
Delay 3
Writeo Output_2,Off //big piston releases
Delay 1
Writeo Output_1,On //small piston pushes can into slot
Delay 2
Writeo Output_1,Off //small piston releases
Delay 1
Branch Start