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robo_line_follower.faproj2
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[Main\STText]
count=307
line0="// Grafcet Modified ..."
line1="////////////////////////////////////////////////////////////"
line2="// FEUPAutom _ C _ v4.0 - "
line3="// Code Automatically Generated:16-07-2014 22:29:44"
line4="////////////////////////////////////////////////////////////"
line5=""
line6="//######################################//"
line7="//################ Page 3 ##############//"
line8="//######################################//"
line9=""
line10="////////////////////////////////////////////////////////////"
line11="///////////// If boot => Set Initial Steps /////////////////"
line12="////////////////////////////////////////////////////////////"
line13=""
line14=""
line15="////////////////////////////////////////////////////////////"
line16="///////////////// Calc Fired Transitions ///////////////////"
line17="////////////////////////////////////////////////////////////"
line18=""
line19=""
line20="////////////////////////////////////////////////////////////"
line21="///////////////// ReSet Steps Above fired Tr ///////////////"
line22="////////////////////////////////////////////////////////////"
line23=""
line24=""
line25="////////////////////////////////////////////////////////////"
line26="///////////////// Set Steps below fired Tr /////////////////"
line27="////////////////////////////////////////////////////////////"
line28=""
line29=""
line30="////////////////////////////////////////////////////////////"
line31="////////// Unset all Outputs (once for all pages) //////////"
line32="////////////////////////////////////////////////////////////"
line33=""
line34=" Q0:=False;"
line35=" Q1:=False;"
line36=" Q2:=False;"
line37=" Q3:=False;"
line38=" Q4:=False;"
line39=" Q5:=False;"
line40=" Q6:=False;"
line41=" Q7:=False;"
line42=" Q8:=False;"
line43=" Q9:=False;"
line44=" Q10:=False;"
line45=" Q11:=False;"
line46=" Q12:=False;"
line47=" Q13:=False;"
line48=" Q14:=False;"
line49=" Q15:=False;"
line50=" Q16:=False;"
line51=" Q17:=False;"
line52=" Q18:=False;"
line53=" Q19:=False;"
line54=" Q20:=False;"
line55=" Q21:=False;"
line56=" Q22:=False;"
line57=" Q23:=False;"
line58=" Q24:=False;"
line59=" Q25:=False;"
line60=" Q26:=False;"
line61=" Q27:=False;"
line62=" Q28:=False;"
line63=" Q29:=False;"
line64=" Q30:=False;"
line65=" Q31:=False;"
line66=" Q32:=False;"
line67=" Q33:=False;"
line68=" Q34:=False;"
line69=" Q35:=False;"
line70=" Q36:=False;"
line71=" Q37:=False;"
line72=" Q38:=False;"
line73=" Q39:=False;"
line74=" Q40:=False;"
line75=" Q41:=False;"
line76=" Q42:=False;"
line77=" Q43:=False;"
line78=" Q44:=False;"
line79=" Q45:=False;"
line80=" Q46:=False;"
line81=" Q47:=False;"
line82=""
line83="////////////////////////////////////////////////////////////"
line84="///// If step active increment MW timer of step @ %s16 /////"
line85="////////////////////////////////////////////////////////////"
line86=""
line87=""
line88="////////////////////////////////////////////////////////////"
line89="//////// If step active, execute its action code ///////////"
line90="////////////////////////////////////////////////////////////"
line91=""
line92=""
line93="//######################################//"
line94="//################ Page 2 ##############//"
line95="//######################################//"
line96=""
line97="////////////////////////////////////////////////////////////"
line98="///////////// If boot => Set Initial Steps /////////////////"
line99="////////////////////////////////////////////////////////////"
line100=""
line101=""
line102="////////////////////////////////////////////////////////////"
line103="///////////////// Calc Fired Transitions ///////////////////"
line104="////////////////////////////////////////////////////////////"
line105=""
line106=""
line107="////////////////////////////////////////////////////////////"
line108="///////////////// ReSet Steps Above fired Tr ///////////////"
line109="////////////////////////////////////////////////////////////"
line110=""
line111=""
line112="////////////////////////////////////////////////////////////"
line113="///////////////// Set Steps below fired Tr /////////////////"
line114="////////////////////////////////////////////////////////////"
line115=""
line116=""
line117="////////////////////////////////////////////////////////////"
line118="///// If step active increment MW timer of step @ %s16 /////"
line119="////////////////////////////////////////////////////////////"
line120=""
line121=""
line122="////////////////////////////////////////////////////////////"
line123="//////// If step active, execute its action code ///////////"
line124="////////////////////////////////////////////////////////////"
line125=""
line126=""
line127="//######################################//"
line128="//################ Page 1 ##############//"
line129="//######################################//"
line130=""
line131="////////////////////////////////////////////////////////////"
line132="///////////// If boot => Set Initial Steps /////////////////"
line133="////////////////////////////////////////////////////////////"
line134=""
line135=""
line136="////////////////////////////////////////////////////////////"
line137="///////////////// Calc Fired Transitions ///////////////////"
line138="////////////////////////////////////////////////////////////"
line139=""
line140=""
line141="////////////////////////////////////////////////////////////"
line142="///////////////// ReSet Steps Above fired Tr ///////////////"
line143="////////////////////////////////////////////////////////////"
line144=""
line145=""
line146="////////////////////////////////////////////////////////////"
line147="///////////////// Set Steps below fired Tr /////////////////"
line148="////////////////////////////////////////////////////////////"
line149=""
line150=""
line151="////////////////////////////////////////////////////////////"
line152="///// If step active increment MW timer of step @ %s16 /////"
line153="////////////////////////////////////////////////////////////"
line154=""
line155=""
line156="////////////////////////////////////////////////////////////"
line157="//////// If step active, execute its action code ///////////"
line158="////////////////////////////////////////////////////////////"
line159=""
line160=""
line161="//######################################//"
line162="//################ Page 0 ##############//"
line163="//######################################//"
line164=""
line165="////////////////////////////////////////////////////////////"
line166="////////////////////////// Zone1 ///////////////////////////"
line167="////////////////////////////////////////////////////////////"
line168=""
line169=" if (sw0=0) then"
line170=" calibrate();"
line171=" end_if;"
line172=""
line173="////////////////////////////////////////////////////////////"
line174="///////////// If boot => Set Initial Steps /////////////////"
line175="////////////////////////////////////////////////////////////"
line176=""
line177=" // ObjIdx=0 => INI_Step ""X1"""
line178=" If (%sw0=0) Then"
line179=" X1 := True;"
line180=" End_If;"
line181=""
line182="////////////////////////////////////////////////////////////"
line183="///////////////// Calc Fired Transitions ///////////////////"
line184="////////////////////////////////////////////////////////////"
line185=""
line186="// ObjIdx=1 => Transition ""t0"""
line187=" // Steps Above: id=0 => X1 ;"
line188=" // Steps Below: id=2 => X2 ;"
line189=" t0 := X1 AND (i1) ;"
line190="// ObjIdx=3 => Transition ""t1"""
line191=" // Steps Above: id=2 => X2 ;"
line192=" // Steps Below: id=0 => X1 ;"
line193=" t1 := X2 AND (i0 or i2) ;"
line194=""
line195="////////////////////////////////////////////////////////////"
line196="///////////////// ReSet Steps Above fired Tr ///////////////"
line197="////////////////////////////////////////////////////////////"
line198=""
line199="// ObjIdx=1 => Transition ""t0"""
line200=" // Steps Above: id=0 => X1 ;"
line201=" // Steps Below: id=2 => X2 ;"
line202=" If (t0) Then"
line203=" X1:=False; "
line204=" End_If;"
line205="// ObjIdx=3 => Transition ""t1"""
line206=" // Steps Above: id=2 => X2 ;"
line207=" // Steps Below: id=0 => X1 ;"
line208=" If (t1) Then"
line209=" X2:=False; "
line210=" End_If;"
line211=""
line212="////////////////////////////////////////////////////////////"
line213="///////////////// Set Steps below fired Tr /////////////////"
line214="////////////////////////////////////////////////////////////"
line215=""
line216="// ObjIdx=1 => Transition ""t0"""
line217=" // Steps Above: id=0 => X1 ;"
line218=" // Steps Below: id=2 => X2 ;"
line219=" If (t0) Then "
line220=" X2 := True; "
line221=" X2_T := 0; "
line222=" End_If;"
line223="// ObjIdx=3 => Transition ""t1"""
line224=" // Steps Above: id=2 => X2 ;"
line225=" // Steps Below: id=0 => X1 ;"
line226=" If (t1) Then "
line227=" X1 := True; "
line228=" X1_T := 0; "
line229=" End_If;"
line230=""
line231="////////////////////////////////////////////////////////////"
line232="///// If step active increment MW timer of step @ %s16 /////"
line233="////////////////////////////////////////////////////////////"
line234=""
line235=" // ObjIdx=0 => Step ""X1"""
line236=" If (%s16) and (X1) Then X1_T := X1_T+1; end_if;"
line237=" // ObjIdx=2 => Step ""X2"""
line238=" If (%s16) and (X2) Then X2_T := X2_T+1; end_if;"
line239=" // ObjIdx=6 => Step ""Zone8"""
line240=" If (%s16) and (Zone8) Then Zone8_T := Zone8_T+1; end_if;"
line241=" // ObjIdx=7 => Step ""Zone1"""
line242=" If (%s16) and (Zone1) Then Zone1_T := Zone1_T+1; end_if;"
line243=" // ObjIdx=8 => Step ""X3"""
line244=" If (%s16) and (X3) Then X3_T := X3_T+1; end_if;"
line245=""
line246="////////////////////////////////////////////////////////////"
line247="//////// If step active, execute its action code ///////////"
line248="////////////////////////////////////////////////////////////"
line249=""
line250=" // ObjIdx=0 => Step ""X1"" (code...)"
line251=" // ObjIdx=2 => Step ""X2"" (code...)"
line252=" // ObjIdx=6 => Step ""Zone8"" (code...)"
line253=" If Zone8 Then "
line254=" v := 160 - 0.03 * abs(2000.0 - position);"
line255=" w := -0.05 * (2000.0 - position);"
line256=" v1 := v + w;"
line257=" v2 := v - w;"
line258=" if (v1 >255) then v1:= 255; end_if;"
line259=" if (v1<-255) then v1:=-255; end_if;"
line260=" if (v2 >255) then v2:= 255; end_if;"
line261=" if (v2<-255) then v2:=-255; end_if;"
line262=" if x2 then"
line263=" set_motors(v1, v2);"
line264=" else"
line265=" set_motors(0, 0);"
line266=" end_if;"
line267=" if ((sw0 % 50)=0) then"
line268=" clear();"
line269=" printf(""%3d %3d"",v1,v2);"
line270=" lcd_goto_xy(0,1);"
line271=" printf(""%04d %d%d"", position, X1, X2);"
line272=" end_if;"
line273=" End_If;"
line274=" // ObjIdx=7 => Step ""Zone1"" (code...)"
line275=" If Zone1 Then "
line276=" if (sw0=0) then"
line277=" calibrate();"
line278=" end_if;"
line279=" End_If;"
line280=" // ObjIdx=8 => Step ""X3"" (code...)"
line281=""
line282="////////////////////////////////////////////////////////////"
line283="////////////////////////// Zone8 ///////////////////////////"
line284="////////////////////////////////////////////////////////////"
line285=""
line286=" v := 160 - 0.03 * abs(2000.0 - position);"
line287=" w := -0.05 * (2000.0 - position);"
line288=" v1 := v + w;"
line289=" v2 := v - w;"
line290=" if (v1 >255) then v1:= 255; end_if;"
line291=" if (v1<-255) then v1:=-255; end_if;"
line292=" if (v2 >255) then v2:= 255; end_if;"
line293=" if (v2<-255) then v2:=-255; end_if;"
line294=" if x2 then"
line295=" set_motors(v1, v2);"
line296=" else"
line297=" set_motors(0, 0);"
line298=" end_if;"
line299=" if ((sw0 % 50)=0) then"
line300=" clear();"
line301=" printf(""%3d %3d"",v1,v2);"
line302=" lcd_goto_xy(0,1);"
line303=" printf(""%04d %d%d"", position, X1, X2);"
line304=" end_if;"
line305=""
line306="(*************** End of ST Code ****************)"
[Main]
ActiveTab=4
MessagesHeight=100
ProjectAuthor=
ProjectComments=
ProjectGrafcet=1
ModBusIP=192.168.56.1
ModBusPort=5502
ModBusNRead=24
ModBusNWrite=34
ModBusOffs_I=0
ModBusOffs_O=0
ModBusFunc=1
ModBus=0
Period=50
WinMsg=1
[FMain]
top=0
left=0
height=1032
width=960
[Variables\Names]
count=641
line0="UserName"
line1="X1"
line2="t0"
line3="X2"
line4="t1"
line5="M4"
line6="M5"
line7="Zone8"
line8="Zone1"
line9="X3"
line10="M9"
line11="M10"
line12="M11"
line13="M12"
line14="M13"
line15="M14"
line16="M15"
line17="M16"
line18="M17"
line19="M18"
line20="M19"
line21="M20"
line22="M21"
line23="M22"
line24="M23"
line25="M24"
line26="M25"
line27="M26"
line28="M27"
line29="M28"
line30="M29"
line31="M30"
line32="M31"
line33="M32"
line34="M33"
line35="M34"
line36="M35"
line37="M36"
line38="M37"
line39="M38"
line40="M39"
line41="M40"
line42="M41"
line43="M42"
line44="M43"
line45="M44"
line46="M45"
line47="M46"
line48="M47"
line49="M48"
line50="M49"
line51="M50"
line52="M51"
line53="M52"
line54="M53"
line55="M54"
line56="M55"
line57="M56"
line58="M57"
line59="M58"
line60="M59"
line61="M60"
line62="M61"
line63="M62"
line64="M63"
line65="M64"
line66="M65"
line67="M66"
line68="M67"
line69="M68"
line70="M69"
line71="M70"
line72="M71"
line73="M72"
line74="M73"
line75="M74"
line76="M75"
line77="M76"
line78="M77"
line79="M78"
line80="M79"
line81="M80"
line82="M81"
line83="M82"
line84="M83"
line85="M84"
line86="M85"
line87="M86"
line88="M87"
line89="M88"
line90="M89"
line91="M90"
line92="M91"
line93="M92"
line94="M93"
line95="M94"
line96="M95"
line97="M96"
line98="M97"
line99="M98"
line100="M99"
line101="M100"
line102="M101"
line103="M102"
line104="M103"
line105="M104"
line106="M105"
line107="M106"
line108="M107"
line109="M108"
line110="M109"
line111="M110"
line112="M111"
line113="M112"
line114="M113"
line115="M114"
line116="M115"
line117="M116"
line118="M117"
line119="M118"
line120="M119"
line121="M120"
line122="M121"
line123="M122"
line124="M123"
line125="M124"
line126="M125"
line127="M126"
line128="M127"
line129="I0"
line130="I1"
line131="I2"
line132="I3"
line133="I4"
line134="I5"
line135="I6"
line136="I7"
line137="I8"
line138="I9"
line139="I10"
line140="I11"
line141="I12"
line142="I13"
line143="I14"
line144="I15"
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