robocell targil2.2

Set Variable POS10  = 0
Set Variable POS11  = 0
Set Variable SIZE10  = 0
Set Variable POS10  = 0
Set Variable POS11  = 0
Set Variable SIZE20  = 0
Set Variable POS20  = 0
Set Variable POS21  = 0
Set Variable SIZE30  = 0
Set Variable POS30  = 0
Set Variable POS31  = 0
Set Variable POS100  = 100
Set Variable POS101  = 101
Set Variable POS102  = 102
Set Variable POS103  = 103

Set Variable MSR = 0

Set Variable COUNTER  = 20
Set Variable COUNTER2  = 21

MEASURE_LOOP:
Open Gripper
Go to Position COUNTER Fast
Go to Position COUNTER2 Speed 5 (%)
Close Gripper
Set Variable TMP to Gripper Sensor
Open Gripper
Go to Position COUNTER Speed 5 (%)
If MSR==0 Jump to SAVE1
If MSR==1 Jump to SAVE2
If MSR==2 Jump to SAVE3

ORDER_LIST:
if SIZE20 >= SIZE10 Jump to ORD1
Set Variable S10  = SIZE10
Set Variable SIZE10  = SIZE20
Set Variable SIZE20  = S10
Set Variable P10 = POS10
Set Variable POS10 = POS20
Set Variable POS20 = P10
Set Variable P11 = POS11
Set Variable POS11 = POS21
Set Variable POS21 = P11

ORD1:
if SIZE30 >= SIZE20 Jump to MOVE_BLOCKS
Set Variable S20  = SIZE20
Set Variable SIZE20  = SIZE30
Set Variable SIZE30  = S20
Set Variable P20 = POS20
Set Variable POS20 = POS30
Set Variable POS30 = P20
Set Variable P21 = POS21
Set Variable POS21 = POS31
Set Variable POS31 = P21
if SIZE20 >= SIZE10 Jump to MOVE_BLOCKS
Set Variable S10  = SIZE10
Set Variable SIZE10  = SIZE20
Set Variable SIZE20  = S10
Set Variable P10 = POS10
Set Variable POS10 = POS20
Set Variable POS20 = P10
Set Variable P11 = POS11
Set Variable POS11 = POS21
Set Variable POS21 = P11

MOVE_BLOCKS:

Open Gripper
Go to Position POS30 Fast
Go to Position POS31 Speed 5 (%)
Close Gripper
Go to Position POS30 Speed 5 (%)
Go to Position POS100 Fast
Go to Position POS101 Speed 5 (%)
Open Gripper
Go to Position POS100 Fast

Go to Position POS20 Fast
Go to Position POS21 Speed 5 (%)
Close Gripper
Go to Position POS20 Speed 5 (%)
Go to Position POS100 Fast
Go to Position POS102 Speed 5 (%)
Open Gripper
Go to Position POS100 Fast

Go to Position POS10 Fast
Go to Position POS11 Speed 5 (%)
Close Gripper
Go to Position POS10 Speed 5 (%)
Go to Position POS100 Fast
Go to Position POS103 Speed 5 (%)
Open Gripper
Go to Position POS100 Fast
Jump to END

SAVE1:
Set Variable SIZE10  = TMP
Set Variable POS10  = COUNTER
Set Variable POS11  = COUNTER2
Set Variable COUNTER  = COUNTER+10
Set Variable COUNTER2  = COUNTER2+10
MSR = MSR +1
If COUNTER<50 Jump to MEASURE_LOOP

SAVE2:
Set Variable SIZE20  = TMP
Set Variable POS20  = COUNTER
Set Variable POS21  = COUNTER2
Set Variable COUNTER  = COUNTER+10
Set Variable COUNTER2  = COUNTER2+10
MSR = MSR +1
If COUNTER<50 Jump to MEASURE_LOOP

SAVE3:
Set Variable SIZE30  = TMP
Set Variable POS30  = COUNTER
Set Variable POS31  = COUNTER2
Set Variable COUNTER  = COUNTER+10
Set Variable COUNTER2  = COUNTER2+10
Ring Bell
If COUNTER=50 Jump to ORDER_LIST

END:
Ring Bell
Ring Bell
Ring Bell