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statrackx.ls
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statrackx.ls
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/PROG STATRACKX
/ATTR
OWNER = MNEDITOR;
COMMENT = "FDPMMD//r0b";
PROG_SIZE = 1050;
CREATE = DATE 18-01-21 TIME 12:00:00;
MODIFIED = DATE 18-01-21 TIME 12:00:00;
FILE_NAME = ;
VERSION = 0;
LINE_COUNT = 30;
MEMORY_SIZE = 1310;
PROTECT = READ_WRITE;
TCD: STACK_SIZE = 0,
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
DEFAULT_GROUP = 1,*,*,*,*;
CONTROL_CODE = 00000000 00000000;
/MN
: !if your robot needs ;
: !a specific toolframe ;
: !selected, add it here ;
: ;
: !Init handshaking: ;
: ! TP not ready ;
: ! Karel not ready ;
: F[1]=(OFF) ;
: F[2]=(OFF) ;
: ;
: !Slowly go to initial ;
: !position ;
:J P[1] 10% FINE ;
: ;
: !Start karel program ;
: RUN FDPM_MDEMO ;
: ;
: !Handshake: ;
: ! TP is ready ;
: F[1]=(ON) ;
: ! Karel ready ? ;
: WAIT (F[2]=ON) ;
: ;
: !Start stat tracking ;
: Track DPM[1] ;
:L P[2] 100mm/sec FINE ;
: ;
: !Stop tracking ;
: !(will never reach this) ;
: Track End ;
/POS
P[1]{
GP1:
UF : 1, UT : 1,
J1= 1.000 deg, J2= 1.000 deg, J3= 1.000 deg,
J4= 1.000 deg, J5= -89.000 deg, J6= 1.000 deg
};
P[2]{
GP1:
UF : 1, UT : 1, CONFIG : 'N U T, 0, 0, 0',
X = 385.000 mm, Y = 0.000 mm, Z = 285.000 mm,
W = -180.000 deg, P = .000 deg, R = 0.000 deg
};
/END