--- a/trunk/Main_Escape_PLC/Plc Logic/Application/Function Blocks/Puzzle/BalastTankPuzzleStateMachine/svnobj
+++ b/trunk/Main_Escape_PLC/Plc Logic/Application/Function Blocks/Puzzle/BalastTankPuzzleStateMachine/svnobj
@@ -1,14 +1,14 @@
-Gx_li!0…jüoiL)x~Ø2ðæ.:System.StringL{6f9dac99-8de1-4efc-8465-68ac443b7d08}SpecialFuncL{0db3d7bb-cde0-4416-9a7b-ce49a0124323}NoneImplementationL{3b83b776-fb25-43b8-99f2-3c507c9143fc}TextDocument	L{f3878285-8e4f-490b-bb1b-9acbb7eb04db}
+Gx_l–!0…jüoQMsêB4˜úSystem.StringL{6f9dac99-8de1-4efc-8465-68ac443b7d08}SpecialFuncL{0db3d7bb-cde0-4416-9a7b-ce49a0124323}NoneImplementationL{3b83b776-fb25-43b8-99f2-3c507c9143fc}TextDocument	L{f3878285-8e4f-490b-bb1b-9acbb7eb04db}
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longTagText$IF NOT xInit THEN	N	UM				(		sName := 'Normal Operation', ì							dwSupportedStates := PACK_ML.State.All - PACK_ML.State.Suspending - PACK_ML.State.Suspended - PACK_ML.State.UnSuspending - PACK_ML.Holding - PACK_ML.Held - PACK_ML.UnHolding, Ô							dwAllowsLeavingFromStates := PACK_ML.State.Stopped OR PACK_ML.State.Aborted OR PACK_ML.State.Idle, Ö							dwAllowsEnteringIntoStates := PACK_ML.State.Stopped OR PACK_ML.State.Aborted OR PACK_ML.State.Idle, \							eInitialState := PACK_ML.State.Aborted,2							xActive := TRUE); 	xInit := TRUE;	END_IF4IF Client.bReadyToPLC THEN:	CASE Client.iCommandToPLC OF"	0 : 	//Handshake	1 : 	//Lock		IF SysStrCmp(Client.sCommandToPLC, Client.LockCommands[0]) =  0 THEN		 0			//First Lock Function!			;"–		ELSIF SysStrCmp(Client.sCommandToPLC, Client.LockCommands[1]) =  0 THEN		#2			//Second Lock Function$
 			;	%		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
 	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		}
 		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
-					´		//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, ½j				Direction:= Festo_PtP_Base.MC_DIRECTION.mcNormal,¾ 				ErrorID=> , ¿(				ErrorString=> );À 			IF bMove THENÁ^				Client.ActualStep := Client.ActualStep + 1;Â			END_IFÃ		101:Ä@			IF CMMT_ST.TargetReached THENÅ			END_IF			Æ		102:Çd			bMove := CMMT_ST.MoveAbsolute(Position:= 400 , È		103:É:				Client.ActualStep := 100;Ê			END_IF		Ë		200:Ìr			CASE OSCAT_BASIC.RDM2(last :=0, low := 1,high := 4) OFÍ				1:ÎF					Client.ActualStep := 210;					Ï				2:Ð>					Client.ActualStep := 220;	Ñ				3:Ò>					Client.ActualStep := 230;	Ó				4:Ô>					Client.ActualStep := 240;	Õ			END_CASEÖ"		210: // Point 1×d			bMove := CMMT_ST.MoveAbsolute(Position:= 100 , Ø0			DO_Balance_1 := TRUE;Ù		211:Ú:				Client.ActualStep := 200;Û4				DO_Balance_1 := FALSE;Ü			END_IF	Ý"		220: // Point 2Þd			bMove := CMMT_ST.MoveAbsolute(Position:= 200 , ß0			DO_Balance_2 := TRUE;à		221:á4				DO_Balance_2 := FALSE;â"		230: // Point 3ãd			bMove := CMMT_ST.MoveAbsolute(Position:= 300 , ä0			DO_Balance_3 := TRUE;å		231:æ4				DO_Balance_3 := FALSE;ç&		240: // Point 4		è2				DO_Balance_4 := TRUE;é		241:êB		300: // Move to random locationëÂ			bMove := CMMT_ST.MoveAbsolute(Position:= OSCAT_BASIC.RDM2(last :=0, low := 100,high := 400) , ì`				Client.ActualStep := Client.ActualStep + 10;í		310:î:				Client.ActualStep := 300;ï	END_CASE	ð2PACK_ML.State.Resetting :ñ*	CMMT_ST.ResetHalt();ò&	StateComplete();		ó0PACK_ML.State.Starting :ô<			IF NOT CMMT_ST.Enabled THENõ@				Client.ActualStep := 100;			ö			ELSE÷@				Client.ActualStep := 10;				ø		10:	ùD			IF NOT CMMT_ST.HomingValid THENú:				Client.ActualStep := 110;ûB				Client.ActualStep := 300;				üF			enable := CMMT_ST.EnableDrive();ý"			IF enable THENþ6				Client.ActualStep := 0;ÿ				Abort();€		110:r			home := CMMT_ST.Home(Position := 0,HomingMethod := 0);‚&			IF home THEN				ƒb				Client.ActualStep := Client.ActualStep + 10;	„		120:…D			IF CMMT_ST.HomingValid THEN				†:				Client.ActualStep := 10;	‡		300:ˆ(			StateComplete();	‰4PACK_ML.State.Completing :Š$	Steady :=  False;‹$	StateComplete();	Œ0PACK_ML.State.Aborting :0	CMMT_ST.DisableDrive();Ž"	StateComplete();.PACK_ML.State.Stopping:4	CASE Client.ActualStep OF‘		0:’>			StopLinear.Execute := FALSE;“6			Client.ActualStep := 10;”
-		10:•<			StopLinear.Execute := TRUE;–6			Client.ActualStep := 20;—
-		20:˜6			IF StopLinear.Done THEN;™H				StopLinear.Execute := FALSE;				š:				Client.ActualStep := 30;	›
-		30:œ.PACK_ML.State.Clearing:8			IF CMMT_ST.AxisError THENž&			CMMT_ST.Reset();Ÿ:			Client.ActualStep := 0;			 END_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);ªPClient.Progress := puzzleTimer.iProcess;«HIF 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}²VFUNCTION_BLOCK BalastTankPuzzleStateMachine³VAR_IN_OUT´.	Client : PuzzleClient;µEND_VAR¶VAR·0	UM	: PACK_ML.UnitMode; ¸j	xInit				: BOOL := FALSE; // Flag for initialization¹8	puzzleTimer 	: PuzzleTimer;ºP 	moveAbsolute 	: MC_MoveAbsolute_Festo;»<	StopLinear 		: MC_Stop_Festo;¼H	LinearStatus	: MC_ReadStatus_Festo;½*    //tempStep : INT;¾$	enable 			: BOOL;¿ 	home 			: BOOL;À"	bMove 			: BOOL;Á	speed 			:INT;Â<	actualPositionLinear1 : REAL;Ã<	actualPositionLinear2 : REAL;Ä6	actualPositionBoat : REAL;Å	deltaY : REAL;Æ	deltaX : REAL;Ç	angle : REAL;È6	targetPositionBoat : REAL;É~	//GenRdn : OSCAT_BASIC.RDM2(last :=0, low := 100,high := 400);Êx	//GenRdn2 : OSCAT_BASIC.RDM2(last :=0, low := 1,high := 4);Ë0	Steady : BOOL := FALSE;Ì(	SteadyTimer : TON ;Í&	AntiJitter : TON ;Î	bl : BLINK;Ï	ii: INT;Ð:	messageQueue : MessageQueue;Ñ"UniqueIdGeneratorÒ2073ÓPOULevelÔL{8e575c5b-1d37-49c6-941b-5c0ec7874787}ÕStandardÖ ChildObjectGuids×8System.Collections.ArrayListØ,AddAttributeSubsequentÙboolÐÐ-ÐÐ	E
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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, ½j				Direction:= Festo_PtP_Base.MC_DIRECTION.mcNormal,¾ 				ErrorID=> , ¿(				ErrorString=> );À 			IF bMove THENÁ^				Client.ActualStep := Client.ActualStep + 1;Â			END_IFÃ		101:Ä@			IF CMMT_ST.TargetReached THENÅ			END_IF			Æ		102:Çd			bMove := CMMT_ST.MoveAbsolute(Position:= 400 , È		103:É:				Client.ActualStep := 100;Ê			END_IF		Ë		200:Ìr			CASE OSCAT_BASIC.RDM2(last :=0, low := 1,high := 4) OFÍ				1:ÎF					Client.ActualStep := 210;					Ï				2:Ð>					Client.ActualStep := 220;	Ñ				3:Ò>					Client.ActualStep := 230;	Ó				4:Ô>					Client.ActualStep := 240;	Õ			END_CASEÖ"		210: // Point 1×d			bMove := CMMT_ST.MoveAbsolute(Position:= 100 , Ø0			DO_Balance_1 := TRUE;Ù		211:Ú:				Client.ActualStep := 200;Û4				DO_Balance_1 := FALSE;Ü			END_IF	Ý"		220: // Point 2Þd			bMove := CMMT_ST.MoveAbsolute(Position:= 200 , ß0			DO_Balance_2 := TRUE;à		221:á4				DO_Balance_2 := FALSE;â"		230: // Point 3ãd			bMove := CMMT_ST.MoveAbsolute(Position:= 300 , ä0			DO_Balance_3 := TRUE;å		231:æ4				DO_Balance_3 := FALSE;ç&		240: // Point 4		è2				DO_Balance_4 := TRUE;é		241:êB		300: // Move to random locationëÂ			bMove := CMMT_ST.MoveAbsolute(Position:= OSCAT_BASIC.RDM2(last :=0, low := 100,high := 400) , ì`				Client.ActualStep := Client.ActualStep + 10;í		310:î:				Client.ActualStep := 300;ï	END_CASE	ð2PACK_ML.State.Resetting :ñ*	CMMT_ST.ResetHalt();ò&	StateComplete();		ó0PACK_ML.State.Starting :ô<			IF NOT CMMT_ST.Enabled THENõ@				Client.ActualStep := 100;			ö			ELSE÷@				Client.ActualStep := 10;				ø		10:	ùD			IF NOT CMMT_ST.HomingValid THENú:				Client.ActualStep := 110;ûB				Client.ActualStep := 300;				üF			enable := CMMT_ST.EnableDrive();ý"			IF enable THENþ6				Client.ActualStep := 0;ÿ				Abort();€		110:r			home := CMMT_ST.Home(Position := 0,HomingMethod := 0);‚&			IF home THEN				ƒb				Client.ActualStep := Client.ActualStep + 10;	„		120:…D			IF CMMT_ST.HomingValid THEN				†:				Client.ActualStep := 10;	‡		300:ˆ(			StateComplete();	‰4PACK_ML.State.Completing :Š$	Steady :=  False;‹$	StateComplete();	Œ0PACK_ML.State.Aborting :0	CMMT_ST.DisableDrive();Ž"	StateComplete();.PACK_ML.State.Stopping:4	CASE Client.ActualStep OF‘		0:’>			StopLinear.Execute := FALSE;“8			wait(IN:=TRUE, PT:=T#1S);”&		  	IF wait.Q THEN•*			 	wait(IN:=FALSE);–8				Client.ActualStep := 10;—		  	END_IF˜
+		10:™<			StopLinear.Execute := TRUE;š8				Client.ActualStep := 20;›
+		20:œ6			IF StopLinear.Done THEN;H				StopLinear.Execute := FALSE;				ž:				Client.ActualStep := 30;	Ÿ
+		30: .PACK_ML.State.Clearing:¡8			IF CMMT_ST.AxisError THEN¢&			CMMT_ST.Reset();£:				Client.ActualStep := 0;		¤		  	END_IF	¥END_CASE¦LClient.ActualState := UM.CurrentState;§>messageQueue(Client := Client);¨fIF NOT (DI_EmergencyGF AND NOT DI_EmergencyFF) THEN©(	// Emergency Abort.ª	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();²J// couple axis to functionblocks here³^LinearStatus (Axis := CMMT_ST, Enable := TRUE);´:StopLinear (Axis := CMMT_ST);µInterface¶L{a9ed5b7e-75c5-4651-af16-d2c27e98cb94}·VFUNCTION_BLOCK BalastTankPuzzleStateMachine¸VAR_IN_OUT¹.	Client : PuzzleClient;ºEND_VAR»VAR¼0	UM	: PACK_ML.UnitMode; ½j	xInit				: BOOL := FALSE; // Flag for initialization¾8	puzzleTimer 	: PuzzleTimer;¿P 	moveAbsolute 	: MC_MoveAbsolute_Festo;À<	StopLinear 		: MC_Stop_Festo;ÁH	LinearStatus	: MC_ReadStatus_Festo;Â*    //tempStep : INT;Ã	wait			: TON;Ä$	enable 			: BOOL;Å 	home 			: BOOL;Æ"	bMove 			: BOOL;Ç	speed 			:INT;È<	actualPositionLinear1 : REAL;É<	actualPositionLinear2 : REAL;Ê6	actualPositionBoat : REAL;Ë	deltaY : REAL;Ì	deltaX : REAL;Í	angle : REAL;Î6	targetPositionBoat : REAL;Ï~	//GenRdn : OSCAT_BASIC.RDM2(last :=0, low := 100,high := 400);Ðx	//GenRdn2 : OSCAT_BASIC.RDM2(last :=0, low := 1,high := 4);Ñ0	Steady : BOOL := FALSE;Ò(	SteadyTimer : TON ;Ó&	AntiJitter : TON ;Ô	bl : BLINK;Õ	ii: INT;Ö:	messageQueue : MessageQueue;×"UniqueIdGeneratorØ2093ÙPOULevelÚL{8e575c5b-1d37-49c6-941b-5c0ec7874787}ÛStandardÜ ChildObjectGuidsÝ8System.Collections.ArrayListÞ,AddAttributeSubsequentßboolÐÐ-ÐÐ	E
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