Diff of /branches/PackMLState/Main_Escape_PLC/Plc Logic/Application/Function Blocks/Puzzle/BalastTankPuzzleStateMachine/svnobj [r31] .. [r32]  Maximize  Restore

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a/branches/PackMLState/Main_Escape_PLC/Plc Logic/Application/Function Blocks/Puzzle/BalastTankPuzzleStateMachine/svnobj b/branches/PackMLState/Main_Escape_PLC/Plc Logic/Application/Function Blocks/Puzzle/BalastTankPuzzleStateMachine/svnobj
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TextLinesL{a5de0b0b-1cb5-4913-ac21-9d70293ec00d}Id
longTagText$IF NOT xInit THEN N UM            (    sName := 'Normal Operation', ì                    dwSupportedStates := PACK_ML.State.All - PACK_ML.State.Suspending - PACK_ML.State.Suspended - PACK_ML.State.UnSuspending - PACK_ML.Holding - PACK_ML.Held - PACK_ML.UnHolding, Ô                    dwAllowsLeavingFromStates := PACK_ML.State.Stopped OR PACK_ML.State.Aborted OR PACK_ML.State.Idle, Ö                    dwAllowsEnteringIntoStates := PACK_ML.State.Stopped OR PACK_ML.State.Aborted OR PACK_ML.State.Idle, \                   eInitialState := PACK_ML.State.Aborted,2                     xActive := TRUE);  xInit := TRUE; END_IF4IF Client.bReadyToPLC THEN:   CASE Client.iCommandToPLC OF" 0 :    //Handshake   1 :    //Lock       IF SysStrCmp(Client.sCommandToPLC, Client.LockCommands[0]) =  0 THEN       0       //First Lock Function!         ;"–     ELSIF SysStrCmp(Client.sCommandToPLC, Client.LockCommands[1]) =  0 THEN    #2       //Second Lock Function$
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TextLinesL{a5de0b0b-1cb5-4913-ac21-9d70293ec00d}Id
longTagText$IF NOT xInit THEN N UM            (    sName := 'Normal Operation', ì                    dwSupportedStates := PACK_ML.State.All - PACK_ML.State.Suspending - PACK_ML.State.Suspended - PACK_ML.State.UnSuspending - PACK_ML.Holding - PACK_ML.Held - PACK_ML.UnHolding, Ô                    dwAllowsLeavingFromStates := PACK_ML.State.Stopped OR PACK_ML.State.Aborted OR PACK_ML.State.Idle, Ö                    dwAllowsEnteringIntoStates := PACK_ML.State.Stopped OR PACK_ML.State.Aborted OR PACK_ML.State.Idle, \                   eInitialState := PACK_ML.State.Aborted,2                     xActive := TRUE);  xInit := TRUE; END_IF4IF Client.bReadyToPLC THEN:   CASE Client.iCommandToPLC OF" 0 :    //Handshake   1 :    //Lock       IF SysStrCmp(Client.sCommandToPLC, Client.LockCommands[0]) =  0 THEN       0       //First Lock Function!         ;"–     ELSIF SysStrCmp(Client.sCommandToPLC, Client.LockCommands[1]) =  0 THEN    #2       //Second Lock Function$
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          ; %    END_IF& 2 :    //Key'   3 :    //IO( 4 :    //Media)   5 :    //Hint* 6 :    //State +p    IF SysStrCmp(Client.sCommandFromPLC, 'SC') =  0 THEN      ,&       StateComplete();-x    ELSIF SysStrCmp(Client.sCommandToPLC, 'Start') =  0 THEN      .       Start();/v    ELSIF SysStrCmp(Client.sCommandToPLC, 'Stop') =  0 THEN    0       Stop();1x      ELSIF SysStrCmp(Client.sCommandToPLC, 'Reset') =  0 THEN      2       Reset();3x    ELSIF SysStrCmp(Client.sCommandToPLC, 'Abort') =  0 THEN      4       Abort();5x    ELSIF SysStrCmp(Client.sCommandToPLC, 'Clear') =  0 THEN      6       Clear();7v    ELSIF SysStrCmp(Client.sCommandToPLC, 'Hold') =  0 THEN    8       Hold();9z      ELSIF SysStrCmp(Client.sCommandToPLC, 'UnHold') =  0 THEN    :       Unhold(); ;|    ELSIF SysStrCmp(Client.sCommandToPLC, 'Suspend') =  0 THEN      <       Suspend();=€       ELSIF SysStrCmp(Client.sCommandToPLC, 'UnSuspend') =  0 THEN      >       UnSuspend();?    @ END_CASEA6 Client.iCommandToPLC := 0;B8 Client.sCommandToPLC := '';C:   Client.bReadyToPLC := FALSE;D.CASE UM.CurrentState OFE,PACK_ML.State.Stopped:F   ;G,PACK_ML.State.Aborted:H&PACK_ML.State.Idle:I2PACK_ML.State.Complete : J.PACK_ML.State.Execute :Kˆ    // Work out the angle FROM the x horizontal winding anti-clockwise L(   //in screen space. M   // Nr   // The value returned from the following should be 315. O // <pre>P* // x,y -------------Q //     |  1,1R   //     |    \S   //     |     \T" //     |     2,2U // </pre>V W’  // NOTE: Remember that most math has the Y axis as positive above the X.X”    // However, for screens we have Y as positive below. For this reason, Yz    // the Y values are inverted to get the expected results.ZT    //final double deltaY = (p1.y - p2.y);[T    //final double deltaX = (p2.x - p1.x);\    //final double result = Math.toDegrees(Math.atan2(deltaY, deltaX)); ]j    //return (result < 0) ? (360d + result) : result;^d   actualPositionLinear1 :=  AI_DistanceRight - 244;_b   actualPositionLinear2 :=  AI_DistanceLeft - 244;`& deltaY := 250 - 0;ar deltaX := actualPositionLinear1 - actualPositionLinear2;bV angle := OSCAT_BASIC.ATAN2(deltaY,deltaX);c\ targetPositionBoat := angle * 180 / 3.1415;    d@ IF targetPositionBoat <= 0 THENe4      targetPositionBoat := 0;fJ ELSIF targetPositionBoat >= 360 THENg8    targetPositionBoat := 360;h END_IFiD BoatAngle :=  targetPositionBoat;jB   IF Client.ActualStep >= 300 THENkN    AO_AnalogRefrence := AI_DistanceLeft;l
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          ; %    END_IF& 2 :    //Key'   3 :    //IO( 4 :    //Media)   5 :    //Hint* 6 :    //State +p    IF SysStrCmp(Client.sCommandFromPLC, 'SC') =  0 THEN      ,&       StateComplete();-x    ELSIF SysStrCmp(Client.sCommandToPLC, 'Start') =  0 THEN      .       Start();/v    ELSIF SysStrCmp(Client.sCommandToPLC, 'Stop') =  0 THEN    0       Stop();1x      ELSIF SysStrCmp(Client.sCommandToPLC, 'Reset') =  0 THEN      2       Reset();3x    ELSIF SysStrCmp(Client.sCommandToPLC, 'Abort') =  0 THEN      4       Abort();5x    ELSIF SysStrCmp(Client.sCommandToPLC, 'Clear') =  0 THEN      6       Clear();7v    ELSIF SysStrCmp(Client.sCommandToPLC, 'Hold') =  0 THEN    8       Hold();9z      ELSIF SysStrCmp(Client.sCommandToPLC, 'UnHold') =  0 THEN    :       Unhold(); ;|    ELSIF SysStrCmp(Client.sCommandToPLC, 'Suspend') =  0 THEN      <       Suspend();=€       ELSIF SysStrCmp(Client.sCommandToPLC, 'UnSuspend') =  0 THEN      >       UnSuspend();?    @ END_CASEA6 Client.iCommandToPLC := 0;B8 Client.sCommandToPLC := '';C:   Client.bReadyToPLC := FALSE;D.CASE UM.CurrentState OFE,PACK_ML.State.Stopped:F   ;G,PACK_ML.State.Aborted:H&PACK_ML.State.Idle:I2PACK_ML.State.Complete : J.PACK_ML.State.Execute :Kˆ    // Work out the angle FROM the x horizontal winding anti-clockwise L(   //in screen space. M   // Nr   // The value returned from the following should be 315. O // <pre>P* // x,y -------------Q //     |  1,1R   //     |    \S   //     |     \T" //     |     2,2U // </pre>V W’  // NOTE: Remember that most math has the Y axis as positive above the X.X”    // However, for screens we have Y as positive below. For this reason, Yz    // the Y values are inverted to get the expected results.ZT    //final double deltaY = (p1.y - p2.y);[T    //final double deltaX = (p2.x - p1.x);\    //final double result = Math.toDegrees(Math.atan2(deltaY, deltaX)); ]j    //return (result < 0) ? (360d + result) : result;^d   actualPositionLinear1 :=  AI_DistanceRight - 244;_b   actualPositionLinear2 :=  AI_DistanceLeft - 244;`& deltaY := 250 - 0;ar deltaX := actualPositionLinear1 - actualPositionLinear2;bV angle := OSCAT_BASIC.ATAN2(deltaY,deltaX);c\ targetPositionBoat := angle * 180 / 3.1415;    d@ IF targetPositionBoat <= 0 THENe4      targetPositionBoat := 0;fJ ELSIF targetPositionBoat >= 360 THENg8    targetPositionBoat := 360;h END_IFiD BoatAngle :=  targetPositionBoat;jB   IF Client.ActualStep >= 300 THENkN    AO_AnalogRefrence := AI_DistanceLeft;l
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    ELSEm4    AO_AnalogRefrence := 0; n4 IF CMMT_ST.AxisError THENo      Abort();pX IF BoatAngle >= 85 AND BoatAngle <= 95 THENq"      Steady := TRUE;r$      Steady := FALSE;s´    AO_Spare2 := REAL_TO_WORD(817 -((TIME_TO_REAL(SteadyTimer.ET)/TIME_TO_REAL(T#25S))*817));t,   IF SteadyTimer.Q THENu$      StateComplete();vD IF puzzleTimer.iProcess = 10 THENw‚     SendCommand(Command := CommandType.Media ,Value := 'Ballast');   xB IF Client.Mode = Mode.Mode1 THENyF    IF puzzleTimer.iProcess = 50 THENzê        SendCommand(Command := CommandType.Hint ,Value := 'Use the terminal to control the right axis to ballast tank.'); {       |8 CASE Client.ActualStep OF    }
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    ELSEm4    AO_AnalogRefrence := 0; n4 IF CMMT_ST.AxisError THENo      Abort();pX IF BoatAngle >= 85 AND BoatAngle <= 95 THENq"      Steady := TRUE;r$      Steady := FALSE;s´    AO_Spare2 := REAL_TO_WORD(817 -((TIME_TO_REAL(SteadyTimer.ET)/TIME_TO_REAL(T#25S))*817));t,   IF SteadyTimer.Q THENu$      StateComplete();vD IF puzzleTimer.iProcess = 10 THENw‚     SendCommand(Command := CommandType.Media ,Value := 'Ballast');   xB IF Client.Mode = Mode.Mode1 THENyF    IF puzzleTimer.iProcess = 50 THENzê        SendCommand(Command := CommandType.Hint ,Value := 'Use the terminal to control the right axis to ballast tank.'); {       |8 CASE Client.ActualStep OF    }
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       0:   ~,       CASE Client.Mode OFP            Mode.Mode1: // Updown diffrent speed€2                CASE Client.Level OF,                   Level.Beginner: ‚4                      speed := 100;                ƒ2                   Level.Placeholder1:„(                    speed := 200;…2                 Level.Intermediate:†(                    speed := 300;‡2                 Level.Placeholder2:ˆ(                    speed := 400;‰*                 Level.Advanced:Š(                    speed := 500;‹              END_CASEŒ<                Client.ActualStep := 100;:           Mode.Mode2: // Location    Ž                END_CASE      <                Client.ActualStep := 200;<           Mode.Mode3: // Analog             ‘H                Client.ActualStep := 300;            ’                   “          END_CASE      ”       //10:•<     //   IF CMMT_ST.AxisError THEN–<     //      Client.ActualStep := 11;—       //   ELSE˜D       //      Client.ActualStep := 20;            ™       //   END_IF         š       //11:›*     //   CMMT_ST.Reset();œ@       //   Client.ActualStep := 10;                //20: ž@       //   IF NOT CMMT_ST.Enabled THENŸB     //      Client.ActualStep := 21;          D       //      Client.ActualStep := 30;            ¡       //   END_IF¢       //21:£J     //   enable := CMMT_ST.EnableDrive();¤&       //   IF enable THEN¥<       //      Client.ActualStep := 20;¦<       //      Client.ActualStep := 10;§       //30: ¨H       //   IF NOT CMMT_ST.HomingValid THEN©<     //      Client.ActualStep := 31;ªD       //      Client.ActualStep := 40;            «       //31:¬v     //   home := CMMT_ST.Home(Position := 0,HomingMethod := 0);­*       //   IF home THEN            ®h       //      Client.ActualStep := Client.ActualStep := 32; ¯       //32:°H     //   IF CMMT_ST.HomingValid THEN          ±>       //      Client.ActualStep := 40;   ²       //   END_IF      ³
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       0:   ~,       CASE Client.Mode OFP            Mode.Mode1: // Updown diffrent speed€2                CASE Client.Level OF,                   Level.Beginner: ‚4                      speed := 100;                ƒ2                   Level.Placeholder1:„(                    speed := 200;…2                 Level.Intermediate:†(                    speed := 300;‡2                 Level.Placeholder2:ˆ(                    speed := 400;‰*                 Level.Advanced:Š(                    speed := 500;‹              END_CASEŒ<                Client.ActualStep := 100;:           Mode.Mode2: // Location    Ž                END_CASE      <                Client.ActualStep := 200;<           Mode.Mode3: // Analog             ‘H                Client.ActualStep := 300;            ’                   “          END_CASE      ”       //10:•<     //   IF CMMT_ST.AxisError THEN–<     //      Client.ActualStep := 11;—       //   ELSE˜D       //      Client.ActualStep := 20;            ™       //   END_IF         š       //11:›*     //   CMMT_ST.Reset();œ@       //   Client.ActualStep := 10;                //20: ž@       //   IF NOT CMMT_ST.Enabled THENŸB     //      Client.ActualStep := 21;          D       //      Client.ActualStep := 30;            ¡       //   END_IF¢       //21:£J     //   enable := CMMT_ST.EnableDrive();¤&       //   IF enable THEN¥<       //      Client.ActualStep := 20;¦<       //      Client.ActualStep := 10;§       //30: ¨H       //   IF NOT CMMT_ST.HomingValid THEN©<     //      Client.ActualStep := 31;ªD       //      Client.ActualStep := 40;            «       //31:¬v     //   home := CMMT_ST.Home(Position := 0,HomingMethod := 0);­*       //   IF home THEN            ®h       //      Client.ActualStep := Client.ActualStep := 32; ¯       //32:°H     //   IF CMMT_ST.HomingValid THEN          ±>       //      Client.ActualStep := 40;   ²       //   END_IF      ³
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                ´       //40:µH     //   Client.ActualStep := tempStep;   ¶       100:·d          bMove := CMMT_ST.MoveAbsolute(Position:= 150 , ¸,           Velocity:= speed, ¹0             Acceleration:= 500, º0             Deceleration:= 500, »"             Jerk:= 1000, ¼X           BufferMode:= MC_BUFFER_MODE.mcBuffered, ½              ErrorID=> , ¾(             ErrorString=> );¿           IF bMove THENÀ^           Client.ActualStep := Client.ActualStep + 1;Á        END_IFÂ       101:Ã@          IF CMMT_ST.TargetReached THENÄ        END_IF         Å       102:Æd          bMove := CMMT_ST.MoveAbsolute(Position:= 400 , Ç     103:È:             Client.ActualStep := 100;É        END_IF      Ê       200:Ër          CASE OSCAT_BASIC.RDM2(last :=0, low := 1,high := 4) OFÌ             1:ÍF                Client.ActualStep := 210;             Î             2:Ï>                Client.ActualStep := 220; Ð             3:Ñ>                Client.ActualStep := 230; Ò             4:Ó>                Client.ActualStep := 240; Ô          END_CASEÕ"       210: // Point 1Öd        bMove := CMMT_ST.MoveAbsolute(Position:= 100 , ×0        DO_Balance_1 := TRUE;Ø     211:Ù:             Client.ActualStep := 200;Ú4           DO_Balance_1 := FALSE;Û          END_IF   Ü"       220: // Point 2Ýd        bMove := CMMT_ST.MoveAbsolute(Position:= 200 , Þ0        DO_Balance_2 := TRUE;ß     221:à4             DO_Balance_2 := FALSE;á"       230: // Point 3âd        bMove := CMMT_ST.MoveAbsolute(Position:= 300 , ã0        DO_Balance_3 := TRUE;ä     231:å4             DO_Balance_3 := FALSE;æ&       240: // Point 4    ç2             DO_Balance_4 := TRUE;è     241:éB       300: // Move to random locationê       bMove := CMMT_ST.MoveAbsolute(Position:= OSCAT_BASIC.RDM2(last :=0, low := 100,high := 400) , ë`             Client.ActualStep := Client.ActualStep + 10;ì       310:í:             Client.ActualStep := 300;î  END_CASE   ï2PACK_ML.State.Resetting :ð*   CMMT_ST.ResetHalt();ñ&    StateComplete();      ò0PACK_ML.State.Starting :ó<       IF NOT CMMT_ST.Enabled THENô@           Client.ActualStep := 100;       õ          ELSEö@             Client.ActualStep := 10;            ÷       10: øD          IF NOT CMMT_ST.HomingValid THENù:           Client.ActualStep := 110;úB           Client.ActualStep := 300;          ûF          enable := CMMT_ST.EnableDrive();ü"          IF enable THENý6             Client.ActualStep := 0;þ           Abort();ÿ       110:€r          home := CMMT_ST.Home(Position := 0,HomingMethod := 0);&          IF home THEN            ‚b             Client.ActualStep := Client.ActualStep + 10;   ƒ       120:„D          IF CMMT_ST.HomingValid THEN          …:             Client.ActualStep := 10;   †       300:‡(          StateComplete();   ˆ4PACK_ML.State.Completing :‰$ Steady :=  False;Š$  StateComplete();   ‹0PACK_ML.State.Aborting :Œ0 CMMT_ST.DisableDrive();"  StateComplete();Ž.PACK_ML.State.Stopping:4   CASE Client.ActualStep OF     0:‘<          StopLinear.Execute := TRUE;’6        Client.ActualStep := 10;“
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                ´       //40:µH     //   Client.ActualStep := tempStep;   ¶       100:·d          bMove := CMMT_ST.MoveAbsolute(Position:= 150 , ¸,           Velocity:= speed, ¹0             Acceleration:= 500, º0             Deceleration:= 500, »"             Jerk:= 1000, ¼X           BufferMode:= MC_BUFFER_MODE.mcBuffered, ½              ErrorID=> , ¾(             ErrorString=> );¿           IF bMove THENÀ^           Client.ActualStep := Client.ActualStep + 1;Á        END_IFÂ       101:Ã@          IF CMMT_ST.TargetReached THENÄ        END_IF         Å       102:Æd          bMove := CMMT_ST.MoveAbsolute(Position:= 400 , Ç     103:È:             Client.ActualStep := 100;É        END_IF      Ê       200:Ër          CASE OSCAT_BASIC.RDM2(last :=0, low := 1,high := 4) OFÌ             1:ÍF                Client.ActualStep := 210;             Î             2:Ï>                Client.ActualStep := 220; Ð             3:Ñ>                Client.ActualStep := 230; Ò             4:Ó>                Client.ActualStep := 240; Ô          END_CASEÕ"       210: // Point 1Öd        bMove := CMMT_ST.MoveAbsolute(Position:= 100 , ×0        DO_Balance_1 := TRUE;Ø     211:Ù:             Client.ActualStep := 200;Ú4           DO_Balance_1 := FALSE;Û          END_IF   Ü"       220: // Point 2Ýd        bMove := CMMT_ST.MoveAbsolute(Position:= 200 , Þ0        DO_Balance_2 := TRUE;ß     221:à4             DO_Balance_2 := FALSE;á"       230: // Point 3âd        bMove := CMMT_ST.MoveAbsolute(Position:= 300 , ã0        DO_Balance_3 := TRUE;ä     231:å4             DO_Balance_3 := FALSE;æ&       240: // Point 4    ç2             DO_Balance_4 := TRUE;è     241:éB       300: // Move to random locationê       bMove := CMMT_ST.MoveAbsolute(Position:= OSCAT_BASIC.RDM2(last :=0, low := 100,high := 400) , ë`             Client.ActualStep := Client.ActualStep + 10;ì       310:í:             Client.ActualStep := 300;î  END_CASE   ï2PACK_ML.State.Resetting :ð*   CMMT_ST.ResetHalt();ñ&    StateComplete();      ò0PACK_ML.State.Starting :ó<       IF NOT CMMT_ST.Enabled THENô@           Client.ActualStep := 100;       õ          ELSEö@             Client.ActualStep := 10;            ÷       10: øD          IF NOT CMMT_ST.HomingValid THENù:           Client.ActualStep := 110;úB           Client.ActualStep := 300;          ûF          enable := CMMT_ST.EnableDrive();ü"          IF enable THENý6             Client.ActualStep := 0;þ           Abort();ÿ       110:€r          home := CMMT_ST.Home(Position := 0,HomingMethod := 0);&          IF home THEN            ‚b             Client.ActualStep := Client.ActualStep + 10;   ƒ       120:„D          IF CMMT_ST.HomingValid THEN          …:             Client.ActualStep := 10;   †       300:‡(          StateComplete();   ˆ4PACK_ML.State.Completing :‰$ Steady :=  False;Š$  StateComplete();   ‹0PACK_ML.State.Aborting :Œ0 CMMT_ST.DisableDrive();"  StateComplete();Ž.PACK_ML.State.Stopping:4   CASE Client.ActualStep OF     0:‘>          StopLinear.Execute := FALSE;’6          Client.ActualStep := 10;“
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       10:”B        IF LinearStatus.Stopping THEN;•H             StopLinear.Execute := FALSE;            –:             Client.ActualStep := 20;   —
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       10:”<        StopLinear.Execute := TRUE;•6        Client.ActualStep := 20;–
 

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       20:—6        IF StopLinear.Done THEN;˜H             StopLinear.Execute := FALSE;            ™:             Client.ActualStep := 30;   š





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       20:˜.PACK_ML.State.Clearing:™8       IF CMMT_ST.AxisError THENš&        CMMT_ST.Reset();›:          Client.ActualStep := 0;       œEND_CASELClient.ActualState := UM.CurrentState;ž>messageQueue(Client := Client);ŸfIF NOT (DI_EmergencyGF AND NOT DI_EmergencyFF) THEN (    // Emergency Abort.¡  Abort();   ¢END_IF £HAntiJitter(IN:=NOT Steady,PT:=T#1S);¤^SteadyTimer(IN:=NOT AntiJitter.Q, PT:= T#25S );¥äpuzzleTimer(xStartTimer := UM.CurrentState = PACK_ML.State.Execute ,xPauseTimer := ,xStopTimer:= NOT (UM.CurrentState = PACK_ML.State.Execute),tMaxPuzzleTime := Client.Duration);¦PClient.Progress := puzzleTimer.iProcess;§HIF puzzleTimer.iProcess >= 100 THEN  ¨    //Stop();©J// couple axis to functionblocks hereª^LinearStatus (Axis := CMMT_ST, Enable := TRUE);«:StopLinear (Axis := CMMT_ST);¬Interface­L{a9ed5b7e-75c5-4651-af16-d2c27e98cb94}®VFUNCTION_BLOCK BalastTankPuzzleStateMachine¯VAR_IN_OUT°.   Client : PuzzleClient;±END_VAR²VAR³0  UM   : PACK_ML.UnitMode; ´j    xInit          : BOOL := FALSE; // Flag for initializationµ8  puzzleTimer    : PuzzleTimer;P   moveAbsolute  : MC_MoveAbsolute_Festo;·<    StopLinear     : MC_Stop_Festo;¸H    LinearStatus   : MC_ReadStatus_Festo;¹*    //tempStep : INT;º$   enable        : BOOL;»   home        : BOOL;¼"  bMove          : BOOL;½  speed          :INT;¾<  actualPositionLinear1 : REAL;¿<  actualPositionLinear2 : REAL;À6  actualPositionBoat : REAL;Á    deltaY : REAL;    deltaX : REAL;à    angle : REAL;Ä6  targetPositionBoat : REAL;Å~    //GenRdn : OSCAT_BASIC.RDM2(last :=0, low := 100,high := 400);Æx    //GenRdn2 : OSCAT_BASIC.RDM2(last :=0, low := 1,high := 4);Ç0  Steady : BOOL := FALSE;È(  SteadyTimer : TON ;É&  AntiJitter : TON ;Ê    bl : BLINK;Ë  ii: INT;Ì:    messageQueue : MessageQueue;Í"UniqueIdGeneratorÎ2062ÏPOULevelÐL{8e575c5b-1d37-49c6-941b-5c0ec7874787}ÑStandardÒ ChildObjectGuidsÓ8System.Collections.ArrayListÔ,AddAttributeSubsequentÕboolÐÐ-ÐÐ E

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       30:›.PACK_ML.State.Clearing:œ8       IF CMMT_ST.AxisError THEN&        CMMT_ST.Reset();ž:          Client.ActualStep := 0;       ŸEND_CASE LClient.ActualState := UM.CurrentState;¡>messageQueue(Client := Client);¢fIF NOT (DI_EmergencyGF AND NOT DI_EmergencyFF) THEN£(    // Emergency Abort.¤  Abort();   ¥END_IF ¦HAntiJitter(IN:=NOT Steady,PT:=T#1S);§^SteadyTimer(IN:=NOT AntiJitter.Q, PT:= T#25S );¨äpuzzleTimer(xStartTimer := UM.CurrentState = PACK_ML.State.Execute ,xPauseTimer := ,xStopTimer:= NOT (UM.CurrentState = PACK_ML.State.Execute),tMaxPuzzleTime := Client.Duration);©PClient.Progress := puzzleTimer.iProcess;ªHIF puzzleTimer.iProcess >= 100 THEN  «    //Stop();¬J// couple axis to functionblocks here­^LinearStatus (Axis := CMMT_ST, Enable := TRUE);®:StopLinear (Axis := CMMT_ST);¯Interface°L{a9ed5b7e-75c5-4651-af16-d2c27e98cb94}±VFUNCTION_BLOCK BalastTankPuzzleStateMachine²VAR_IN_OUT³.   Client : PuzzleClient;´END_VARµVAR0  UM   : PACK_ML.UnitMode; ·j    xInit          : BOOL := FALSE; // Flag for initialization¸8  puzzleTimer    : PuzzleTimer;¹P   moveAbsolute  : MC_MoveAbsolute_Festo;º<    StopLinear     : MC_Stop_Festo;»H    LinearStatus   : MC_ReadStatus_Festo;¼*    //tempStep : INT;½$   enable        : BOOL;¾   home        : BOOL;¿"  bMove          : BOOL;À  speed          :INT;Á<  actualPositionLinear1 : REAL;Â<  actualPositionLinear2 : REAL;Ã6  actualPositionBoat : REAL;Ä    deltaY : REAL;Å    deltaX : REAL;Æ    angle : REAL;Ç6  targetPositionBoat : REAL;È~    //GenRdn : OSCAT_BASIC.RDM2(last :=0, low := 100,high := 400);Éx    //GenRdn2 : OSCAT_BASIC.RDM2(last :=0, low := 1,high := 4);Ê0  Steady : BOOL := FALSE;Ë(  SteadyTimer : TON ;Ì&  AntiJitter : TON ;Í    bl : BLINK;Î  ii: INT;Ï:    messageQueue : MessageQueue;Ð"UniqueIdGeneratorÑ2066ÒPOULevelÓL{8e575c5b-1d37-49c6-941b-5c0ec7874787}ÔStandardÕ ChildObjectGuidsÖ8System.Collections.ArrayList×,AddAttributeSubsequentØboolÐÐ-ÐÐ E





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