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lab1.V2
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.PROGRAM lab1()
.END
.PROGRAM checksig()
SIGNAL -99, 100
TYPE SIG(99), SIG(100)
SIGNAL 99, -100
TYPE SIG(99), SIG(100)
TYPE SIG(3001), SIG(3002)
SIGNAL 3001, -3002
.END
.PROGRAM put_tool()
AUTO REAL lastspeed
AUTO REAL id
id = 26
ATTACH ()
lastspeed = SPEED(2)
SPEED 50 ALWAYS
CALL r._puttool(1, id, index)
SPEED lastspeed ALWAYS
.END
.PROGRAM closetofeeder()
ATTACH ()
MOVE #close_to_feeder
BREAK
.END
.PROGRAM gohome()
ATTACH ()
MOVE #orig
BREAK
.END
.PROGRAM gripperop()
CALL enable_air()
CALL gripper_close()
CALL gripper_open()
;CALL disable_air()
.END
.PROGRAM interm()
ATTACH ()
MOVE #intermediate
BREAK
.END
.PROGRAM move2feederold()
CALL defvars()
MOVE #orig
BREAK
MOVE #intermediate
BREAK
MOVE #close_to_feeder
BREAK
diff_z = 104.8
MOVE HERE:TRANS(0,0,diff_z,0,0,0)
BREAK
.END
.PROGRAM move2pose(pose_arr[])
MOVE TRANS(pose_arr[0],pose_arr[1],pose_arr[2],pose_arr[3],pose_arr[4],pose_arr[5])
.END
.PROGRAM movendrop()
ATTACH ()
CALL defvars()
CALL enable_air()
MOVE #orig
BREAK
MOVE #intermediate
BREAK
MOVE #close_to_feeder
BREAK
CALL gripper_open()
MOVE #intermediate
BREAK
MOVE #orig
BREAK
.END
.PROGRAM movenwrite()
ATTACH ()
CALL defvars()
ATTACH (lun, 4) "NFS"
CALL typeiostat("attaching", lun)
$fname = "poses.csv"
FOPENA (lun) $fname
CALL typeiostat("opening a file", lun)
FOR i = 1 TO 3 STEP 1
TYPE i
MOVE #orig
BREAK
MOVE #intermediate
BREAK
MOVE #close_to_feeder
BREAK
HERE c2f_pose
DECOMPOSE c2f[] = c2f_pose
target_z = 250.911
MOVE TRANS(c2f[0],c2f[1],target_z,c2f[3],c2f[4],c2f[5])
BREAK
WAIT.EVENT , 2
HERE pose
DECOMPOSE pose_arr[] = pose
;CALL writecsvline(lun, pose_arr[])
n = LAST(pose_arr[])
FOR j = 0 TO n-1
WRITE (lun) pose_arr[j], /S
WRITE (lun) ",", /S
END
WRITE (lun) pose_arr[n]
MOVE #intermediate
BREAK
MOVE #orig
BREAK
END
FCLOSE (lun)
DETACH (lun)
.END
.PROGRAM get_calibtool()
CALL get_tool(11)
.END
.PROGRAM get_tool(id)
ATTACH ()
CALL r1.gettool(id)
.END
.PROGRAM get_tool26()
CALL get_tool(26)
.END
.PROGRAM pick()
CALL defvars()
ATTACH ()
MOVE #orig
BREAK
MOVE #intermediate
BREAK
MOVE #close_to_feeder
BREAK
HERE c2f_pose
DECOMPOSE c2f[] = c2f_pose
target_z = 249
MOVE TRANS(c2f[0],c2f[1],target_z,c2f[3],c2f[4],c2f[5])
BREAK
WAIT.EVENT , 2
.END
.PROGRAM pickndrop()
ATTACH ()
WAIT.EVENT , 2
CALL pick()
CALL gripper_close()
MOVE #close_to_feeder
BREAK
MOVE #intermediate
BREAK
MOVE #orig
BREAK
WAIT.EVENT , 2
CALL movendrop()
.END
.PROGRAM playground()
CALLS "gripper_close"()
.END
.PROGRAM simplemove()
ATTACH ()
CALL defvars()
;MOVE #orig
;BREAK
;MOVE #intermediate
;BREAK
MOVE #close_to_feeder
BREAK
MOVE #intermediate
BREAK
MOVE #orig
BREAK
.END
.PROGRAM skillextest()
$a = "movehome"
$b = "moveinterm"
$c = "move2feeder"
$br = "break"
CALL skillexec($c)
CALL skillexec($br)
CALL skillexec($b)
CALL skillexec($br)
CALL skillexec($a)
CALL skillexec($br)
.END
.PROGRAM tcptestsrv()
AUTO do_wait, no_wait, handle, lun, repeat_loop
do_wait = 0
no_wait = 1
ATTACH (lun, 4) "TCP"
CALL typeiostat("establishing TCP server LUN", lun)
FOPEN (lun, 16) "/LOCAL_PORT 1234 /CLIENTS 10 /BUFFER_SIZE 1024"
CALL typeiostat("creating server socket", lun)
repeat_loop = TRUE
WHILE repeat_loop DO
WAIT
READ (lun, handle, do_wait) $input
status = IOSTAT(lun)
CASE status OF
VALUE 100:
TYPE "Connection established"
VALUE 1:
TYPE "Received message ", $input
VALUE 101:
TYPE "Connection closed"
END
;TYPE $input
END
FCLOSE (lun)
DETACH (lun)
CALL typeiostat("closing", lun)
.END
.PROGRAM testclient()
;lun = -10
AUTO lun
CALL defvars()
CALL tcpcreateclient($ip_vbox, 8888, lun)
CALL tcpdestrclient(lun)
.END
.PROGRAM writenfs()
;AUTO nfslun
;nfslun = 27
;ATTACH (lun, 4) "DISK"
ATTACH (lun, 4) "NFS"
CALL typeiostat("attaching", lun)
;$fname = "xc:\oleksandr_vplus\test.dat"
$fname = "alex_nfs.dat"
FOPENW (lun) $fname
CALL typeiostat("opening a file", lun)
rnd = RANDOM
WRITE (lun) $TIME(), rnd
CALL typeiostat("writing attempt", lun)
TYPE $TIME(), rnd, lun
FCLOSE (lun)
DETACH (lun)
.END
.PROGRAM move2rig()
CALL defvars()
MOVE insp_approach
.END
.PROGRAM mv.feeder2rig()
CALL defvars()
HERE c2f_pose
DECOMPOSE c2f[] = c2f_pose
z_offset = 125
MOVE TRANS(c2f[0],c2f[1],c2f[2]+z_offset,c2f[3],c2f[4],c2f[5])
CALL move2rig()
.END
.PROGRAM mv.insp()
CALL defvars()
HERE ia_pose
DECOMPOSE ia[] = ia_pose
z_offset = -95
MOVE TRANS(ia[0],ia[1],ia[2]+z_offset,ia[3],ia[4],ia[5])
.END
.PROGRAM test.inspect()
CALL movehome()
BREAK
CALL moveinterm()
BREAK
CALL move2feeder()
BREAK
CALL mv.feeder2rig()
BREAK
CALL mv.insp()
BREAK
.END
.PROGRAM calibtest()
CALL defvars()
ATTACH ()
MOVE #orig
BREAK
MOVE #intermediate
BREAK
MOVE #close_to_feeder
BREAK
HERE c2f_pose
DECOMPOSE c2f[] = c2f_pose
x = -162.684
y = -636.852
z = 224.965
MOVE TRANS(x,y,z,c2f[3],c2f[4],c2f[5])
BREAK
WAIT.EVENT , 2
.END
.PROGRAM move_xy_100()
ATTACH ()
HERE now
MOVE now:TRANS(-100,-100,0,0,0,0)
.END
.PROGRAM fcalib1()
CALL defvars()
MOVE #orig
BREAK
MOVE #intermediate
BREAK
MOVE #close_to_feeder
BREAK
HERE c2f_pose
DECOMPOSE c2f[] = c2f_pose
target_z = 224.965
MOVE TRANS(c2f[0],c2f[1],target_z,c2f[3],c2f[4],c2f[5])
BREAK
WAIT.EVENT , 2
.END
.PROGRAM fcalib2()
CALL defvars()
CALL fcalib1()
; Move in a straight line in X direction
HERE here_pose
DECOMPOSE ha[] = here_pose
MOVES TRANS(ha[0]+100,ha[1],ha[2],ha[3],ha[4],ha[5])
BREAK
.END
.PROGRAM testframes()
CALL defvars()
;CALL fcalib1()
; Move in a straight line in X direction
MOVE HERE:TRANS(50,0,0,0,0,0)
BREAK
MOVE HERE:TRANS(0,50,0,0,0,0)
BREAK
MOVE HERE:TRANS(0,0,50,0,0,0)
BREAK
CALL movehome()
BREAK
;AUTO here_pose
;AUTO ha
HERE here_pose
DECOMPOSE ha[] = here_pose
MOVE TRANS(ha[0]+50,ha[1],ha[2],ha[3],ha[4],ha[5])
BREAK
HERE here_pose
DECOMPOSE ha[] = here_pose
MOVE TRANS(ha[0],ha[1]+50,ha[2],ha[3],ha[4],ha[5])
BREAK
HERE here_pose
DECOMPOSE ha[] = here_pose
MOVE TRANS(ha[0],ha[1],ha[2]+50,ha[3],ha[4],ha[5])
BREAK
CALL movehome()
.END
.PROGRAM fcalib_sc()
CALL defvars()
;MOVE #orig
;BREAK
MOVE #intermediate
BREAK
MOVE feeder_btl
BREAK
w = 250
h = 180
MOVES HERE:TRANS(-h,0,0,0,0,0)
BREAK
MOVES HERE:TRANS(0,-w,0,0,0,0)
BREAK
MOVES HERE:TRANS(h,0,0,0,0,0)
BREAK
MOVES HERE:TRANS(0,w,0,0,0,0)
BREAK
.END
.PROGRAM defvars()
ATTACH ()
; Transformations and precision points
SET #orig = #PPOINT(0,-90,180,0,90,0)
SET #intermediate = #PPOINT(-100,-90,180,0,90,0)
SET #close_to_feeder = #PPOINT(-100,-54,185,0,50,0)
SET insp_approach = TRANS(558.356,-365.489,443.313,36.215,175.322,123.243)
SET feeder_btl = TRANS(6.5,-570.382,267.895,0,180,100)
; test
SET #over_griphome_2 = #PPOINT(-55.4,-121.9,219.6,0,90,-90)
SET over_griphome_1 = TRANS(167.9,-243.3,600,0,180,-90) ; to be further refined
SET test_1 = TRANS(480,0,500,0,180,-90)
; IP addresses
$ip_vbox = "172.16.0.125"
.END