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ChildObjectGuids
AddAttributeSubsequent
IF NOT xInit THEN	
	UM				(		sName := 'Normal Operation', 
							dwAllowsLeavingFromStates := PACK_ML.State.Stopped OR PACK_ML.State.Aborted OR PACK_ML.State.Idle, 
		IF SysStrCmp(Client.sCommandToPLC, Client.LockCommands[0]) =  0 THEN		
			//First Lock Function
			;
		ELSIF SysStrCmp(Client.sCommandToPLC, 'UnSuspend') =  0 THEN		
			UnSuspend();
		
	END_CASE
	Client.iCommandToPLC := 0;
	Client.sCommandToPLC := '';
	Client.bReadyToPLC := FALSE;
CASE UM.CurrentState OF
PACK_ML.State.Stopped:
	;
PACK_ML.State.Aborted:
PACK_ML.State.Idle:
PACK_ML.State.Complete :	
PACK_ML.State.Execute :
    // NOTE: Remember that most math has the Y axis as positive above the X.
    //final double result = Math.toDegrees(Math.atan2(deltaY, deltaX)); 
    //return (result < 0) ? (360d + result) : result;
	//actualPositionBoat := CMMT_ST_Rotery_Boot.ActualPosition;
	actualPositionLinear1 := CMMT_ST_Linear1.ActualPosition;
	deltaY := actualPositionLinear1 - 0;
	deltaX := actualPositionLinear2 - 500;
	angle := OSCAT_BASIC.ATAN2(deltaY,deltaX);
	targetPositionBoat := angle * 180 / 3.1415;		
	IF targetPositionBoat <= 0 THEN
		targetPositionBoat := 0;
	ELSIF targetPositionBoat >= 360 THEN
		targetPositionBoat := 360;
	(*CMMT_ST_Rotery_Boot.MoveAbsolute(Position:= targetPositionBoat , 
				Velocity:= 10000, 
				Acceleration:= 100000, 
				Deceleration:= 100000, 
				Jerk:= 10000000, 
				BufferMode:= MC_BUFFER_MODE.mcAborting, 
				ErrorID=> , 
				ErrorString=> );
*)
	CASE Client.ActualStep OF		
		0:	
			CASE Client.Mode OF
				Mode.Mode1:
					CASE Client.Level OF
						Level.Beginner:	
							speed := 100;						
						Level.Placeholder1:
							speed := 200;
						Level.Intermediate:
							speed := 300;
						Level.Placeholder2:
							speed := 400;
						Level.Advanced:
							speed := 500;
					END_CASE
					Client.ActualStep := 100;
					executeBoat := TRUE;
				Mode.Mode2:					
					Client.ActualStep := 200;
				Mode.Mode3:					
						
		100:
				Velocity:= speed, 
				Deceleration:= 500, 
				BufferMode:= MC_BUFFER_MODE.mcBuffered, 
				Client.ActualStep := Client.ActualStep + 1;
		101:
			END_IF			
			bMove := CMMT_ST_Linear1.MoveAbsolute(Position:= 550 , 
				Client.ActualStep := 100;
		200:
			StateComplete();	
PACK_ML.State.Resetting :
	executeBoat := FALSE;
	//CMMT_ST_Rotery_Boot.ResetHalt();
PACK_ML.State.Starting :
			//ELSIF NOT CMMT_ST_Rotery_Boot.Enabled THEN
			ELSE
		10:	
				Client.ActualStep := 110;
				//Client.ActualStep := 210;
			END_IF	
			IF enable THEN
				Abort();
			IF home THEN				
		120:
				Client.ActualStep := 10;	
			ELSE				
		220:
					
	StateComplete();	
	CMMT_ST_Linear1.DisableDrive();
	StateComplete();
	CASE Client.ActualStep OF
			StopBoat.Execute := TRUE;
			Client.ActualStep := 10;
			IF BoatStatus.Stopping AND LinearStatus.Stopping THEN;
				StopBoat.Execute := FALSE;