[PGM]
NAME=SHIFT
PGN=1
=================== declares the array ============
DIM PPS$(5)
DIM PPX$(5)
DIM PPY$(5)
DIM PPR$(5)
DIM PPX!(5)
DIM PPY!(5)
DIM PPR!(5)
A%=1
'=======================================
*A:
DO2()=0
MOVE P,P0,Z=0.00
WAIT ARM
'======================================
MOVE P, P101, Z=0.00 '1 PHOTO POSITION
WAIT ARM
'======================================
*PAIZHAO1:
SEND "AA" TO GP1
SEND GP1 TO DATA$
PRINT "DATA$=",DATA$
PPS$(1)=MID$(DATA$,1,2)
IF PPS$(1)="OK" THEN
GOTO *PAIZHAOOK1
ENDIF
IF PPS$(1)="NG" THEN
DELAY 100
GOTO *PAIZHAO1
ENDIF
'======================================
*PAIZHAOOK1:
PPX$(1)=MID$(DATA$,3,8)
PPY$(1)=MID$(DATA$,11,8)
PPR$(1)=MID$(DATA$,19,8)
PPX!(1)=VAL(PPX$(1))
PPY!(1)=VAL(PPX$(1))
PPR!(1)=VAL(PPX$(1))
LOC1(P11)=PPX!(1)
LOC2(P11)=PPY!(1)
LOC4(P11)=PPR!(1)
LOC3(P11)=20.00
'========================================
MOVE P, P102, Z=0.00 '2 PHOTO POSITION
WAIT ARM
'======================================
*PAIZHAO2:
SEND "AB" TO GP1
SEND GP1 TO DATA$
PPS$(2)=MID$(DATA$,1,2)
PRINT "DATA$=",DATA$
IF PPS$(2)="OK" THEN
GOTO *PAIZHAOOK2
ENDIF
IF PPS$(2)="NG" THEN
DELAY 100
GOTO *PAIZHAO2
ENDIF
'=====================================
*PAIZHAOOK2:
PPX$(2)=MID$(DATA$,3,8)
PPY$(2)=MID$(DATA$,11,8)
PPR$(2)=MID$(DATA$,19,8)
PPX!(2)=VAL(PPX$(2))
PPY!(2)=VAL(PPX$(2))
PPR!(2)=VAL(PPX$(2))
LOC1(P12)=PPX!(2)
LOC2(P12)=PPY!(2)
LOC4(P12)=PPR!(2)
LOC3(P12)=20.00
'=========================================
============= offset formula calculates the offset S1 ============
DLTX1=LOC1(P2)-LOC1(P1)
DLTY1=LOC2(P2)-LOC2(P1)
ANG1=ATN(DLTY1/DLTX1)
DLTX11=LOC1(P12)-LOC1(P11)
DLTY11=LOC2(P12)-LOC2(P11)
ANG11=ATN(DLTY11/DLTX11)
THETA=ANG11-ANG1
LOC1(P1001)=LOC1(P1)*COS(THETA)-LOC2(P1)*SIN(THETA)
LOC2(P1001)=LOC1(P1)*SIN(THETA)+LOC2(P1)*COS(THETA)
DSTX1=LOC1(P11)-LOC1(P1001)
DSTY1=LOC2(P11)-LOC2(P1001)
LOC1(P1002)=LOC1(P2)*COS(THETA)-LOC2(P2)*SIN(THETA)
LOC2(P1002)=LOC1(P2)*SIN(THETA)+LOC2(P2)*COS(THETA)
DSTX2=LOC1(P12)-LOC1(P1002)
DSTY2=LOC2(P12)-LOC2(P1002)
DSTX=(DSTX1+DSTX2)/2
DSTY=(DSTY1+DSTY2)/2
LOC1(S1)=LOC1(S0)+DSTX
LOC2(S1)=LOC2(S0)+DSTY
LOC4(S1)=LOC4(S0)+RADDEG(THETA)
LOC3(S1)=20.00
'================================================
'================================================
*MAIN:
FOR B%=1 TO 32
C%=B%+499
P[C%]=P0
NEXT
'======================================
FOR B%=1 TO 32
C%=B%+499
P[C%]=PPNT(0,B%)
NEXT
'=======================================
MOVE P, P103, Z=0.00 '3 PHOTO POSITION
WAIT ARM
'=======================================
*PAIZHAO3:
SEND "AC" TO GP1
SEND GP1 TO DATA$
PPS$(3)=MID$(DATA$,1,2)
PRINT "DATA$=",DATA$
IF PPS$(3)="OK" THEN
GOTO *PAIZHAOOK3
ENDIF
IF PPS$(3)="NG" THEN
DELAY 100
GOTO *PAIZHAO3
ENDIF
'=======================================
*PAIZHAOOK3:
PPX$(3)=MID$(DATA$,3,8)
PPY$(3)=MID$(DATA$,11,8)
PPR$(3)=MID$(DATA$,19,8)
PPX!(3)=VAL(PPX$(3))
PPY!(3)=VAL(PPX$(3))
PPR!(3)=VAL(PPX$(3))
LOC1(P13)=PPX!(3)
LOC2(P13)=PPY!(3)
LOC4(P13)=PPR!(3)
LOC3(P13)=20.00
SHIFT S0
MOVE P, P13, Z=0.00 'Walk to the suction position
WAIT ARM
DO(23) = 1' suction
DELAY 100
'=========================================
MOVE P, P104, Z=0.00 '4 PHOTO POSITION, CORRECTED
WAIT ARM
'=======================================
*PAIZHAO4:
SEND "AD" TO GP1
SEND GP1 TO DATA$
PPS$(4)=MID$(DATA$,1,2)
PRINT "DATA$=",DATA$
IF PPS$(4)="OK" THEN
GOTO *PAIZHAOOK4
ENDIF
IF PPS$(4)="NG" THEN
DELAY 100
GOTO *PAIZHAO4
ENDIF
'=====================================
*PAIZHAOOK4: 'Take a picture with a second correction, fix the camera.'
PPX$(4)=MID$(DATA$,3,8)
PPY$(4)=MID$(DATA$,11,8)
PPR$(4)=MID$(DATA$,19,8)
PPX!(4)=VAL(PPX$(4))
PPY!(4)=VAL(PPX$(4))
PPR!(4)=VAL(PPX$(4))
LOC1(P14)=PPX!(4)
LOC2(P14)=PPY!(4)
LOC4(P14)=PPR!(4)
LOC3(P14)=20.00
SHIFT S0
MOVE P, P14, Z=0.00 'CORRECTION ANGLE
WAIT ARM
'=====================================
SHIFT S1
MOVE P,P[A%+499],Z=0.00
WAIT ARM
DO(23)=0
'====================================
SHIFT S0
MOVE P, P105, Z=0.00 '5 PHOTO POSITION
WAIT ARM
'===================================
*PAIZHAOOK5:
SEND "AE" TO GP1
SEND GP1 TO DATA$
PPS$(5)=MID$(DATA$,1,2)
PRINT "DATA$=",DATA$
IF PPS$(5)="OK" THEN
GOTO *PAIZHAOOK5
ENDIF
IF PPS$(5)="NG" THEN
DELAY 100
GOTO *PAIZHAO6
ENDIF
'==================================
*PAIZHAO6:
PPX$(5)=MID$(DATA$,3,8)
PPY$(5)=MID$(DATA$,11,8)
PPR$(5)=MID$(DATA$,19,8)
PPX!(5)=VAL(PPX$(5))
PPY!(5)=VAL(PPX$(5))
PPR!(5)=VAL(PPX$(5))
LOC1(P15)=PPX!(5)
LOC2(P15)=PPY!(5)
LOC4(P15)=PPR!(5)
LOC3(P15)=20.00
SHIFT S0
MOVE P, P15, Z=0.00 ' to the suction position
WAIT ARM
DO(23) = 1' suction
DELAY 100
'======================================
MOVE P, P104, Z=0.00 '4 Position for taking pictures, correcting, fixing the camera
WAIT ARM
'=======================================
*PAIZHAO4:
SEND "AD" TO GP1
SEND GP1 TO DATA$
PPS$(4)=MID$(DATA$,1,2)
PRINT "DATA$=",DATA$
IF PPS$(4)="OK" THEN
GOTO *PAIZHAOOK4
ENDIF
IF PPS$(4)="NG" THEN
DELAY 100
GOTO *PAIZHAO4
ENDIF
'=====================================
*PAIZHAOOK4: 'Take a picture of the second correction
PPX$(4)=MID$(DATA$,3,8)
PPY$(4)=MID$(DATA$,11,8)
PPR$(4)=MID$(DATA$,19,8)
PPX!(4)=VAL(PPX$(4))
PPY!(4)=VAL(PPX$(4))
PPR!(4)=VAL(PPX$(4))
LOC1(P14)=PPX!(4)
LOC2(P14)=PPY!(4)
LOC4(P14)=PPR!(4)
LOC3(P14)=20.00
SHIFT S0
MOVE P, P14, Z=0.00 'CORRECTION ANGLE
WAIT ARM
A%=A%+1
SHIFT S1
MOVE P,P[A%+499],Z=0.00
WAIT ARM
DO(23)=0
A%=A%+1
IF A%=33 THEN
A%=1
GOTO *A
ENDIF
GOTO *MAIN
[GEP]
GP1
MODE=1
IPADRS=192.168.0.5
PORT=5
EOL=0
TYPE=0
[END]
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