start()
begin
//延时10秒
delay(5)
//初始化变量
call init()
//清空原有运动堆栈
resetMotion()
//建立上电任务
taskCreate "robotpower",100,robotpower()
wait(isPowered())
//建立生产任务
taskCreate "ProductionCycle",10,ProductionCycle()
//建立安全区域检测任务
taskCreate "CheckSafeArea",10,CheckSafeArea()
//建立屏幕刷新任务
taskCreate "HMI",80,HMI()
// //
end
init()
begin
_bPartReverse=false
_bPartRight=false
_bCheckArrived=false
_bStartCheck=false
_bSyncErr=false
doERobotDone=false
doEhome=false
doERobotError=false
open(tGripper)
_nDifY=0
_nItem=0
sState="已停止"
end
HMI()
begin
userPage()//切换到用户屏幕
cls()
gotoxy(0,2)
put("生产状态:")
gotoxy(0,4)
put("工件序号:")
gotoxy(0,6)
put("光电信号:")
gotoxy(0,8)
put("正反检测:")
gotoxy(0,10)
put("检测偏差:")
while true
//刷新生产状态
gotoxy(10,2)
put(" ")
gotoxy(10,2)
put(sState)
//刷新工件序号
gotoxy(10,4)
put(" ")
gotoxy(10,4)
put(toString("",_nItem+1))
//刷新激光传感器信号
gotoxy(10,6)
put(" ")
if diFCheckSensor==true
gotoxy(10,6)
put("ON")
else
gotoxy(10,6)
put("OFF")
endIf
//刷新正反向判断
gotoxy(10,8)
put("