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213 lines
2.7 KiB
Plaintext
213 lines
2.7 KiB
Plaintext
version = 2021
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[proc]
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pid = 1045
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type = 0
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name = 料仓放料(已知xy)
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start =
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pause =
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step_count = 3
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[step]
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sid = 24502
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state = 1
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desc = 到料仓避位
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script:
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script_end
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node_count = 1
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[node]
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nid = 3450201
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task = 1045
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type = 18
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state = 0
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desc = node1
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cmd = 1046
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[step]
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sid = 24503
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state = 0
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desc = 到放料位上方
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script:
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if (t==1) downh=s1
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elseif(t==2)downh=s2
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elseif(t==3)downh=s3
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elseif(t==4)downh=s4
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else downh=s5
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if (v==1)
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{//1号吸嘴
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downh += v1z
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x += v1x + cameraoffsetx
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y += v1y + cameraoffsety
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b = "吸料真空1吸"
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e = "吸料真空1检测"
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f = "吸料真空1破"
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}
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elseif (v==2)
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{//2号吸嘴
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downh += v2z
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x += v2x + cameraoffsetx
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y += v2y + cameraoffsety
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b = "吸料真空2吸"
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e = "吸料真空2检测"
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f = "吸料真空2破"
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}
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elseif (v==3)
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{//3号吸嘴
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downh += v3z
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x += v3x + cameraoffsetx
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y += v3y + cameraoffsety
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b = "吸料真空3吸"
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e = "吸料真空3检测"
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f = "吸料真空3破"
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}
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elseif (v==4)
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{//3号吸嘴
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downh += v4z
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x += v4x + cameraoffsetx
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y += v4y + cameraoffsety
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b = "吸料真空4吸"
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e = "吸料真空4检测"
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f = "吸料真空4破"
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}
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script_end
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node_count = 8
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[node]
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nid = 3450301
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task = 1045
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type = 18
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state = 0
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desc = node1
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cmd = 1046
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[node]
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nid = 3450302
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task = 1045
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type = 18
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state = 0
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desc = node2
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cmd = 1053
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[node]
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nid = 3450303
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task = 1045
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type = 19
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state = 1
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desc = node3
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cmd = 1046
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[node]
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nid = 3450304
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task = 1045
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type = 1
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state = 0
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desc = node4
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cmd = 0
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[node]
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nid = 3450305
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task = 1045
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type = 27
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state = 0
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desc = node5
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cmd = if(1==v) vacuum1=0
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[node]
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nid = 3450306
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task = 1045
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type = 27
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state = 0
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desc = node6
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cmd = if(2==v) vacuum2=0
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[node]
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nid = 3450307
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task = 1045
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type = 27
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state = 0
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desc = node7
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cmd = if(3==v) vacuum3=0
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[node]
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nid = 3450308
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task = 1045
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type = 27
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state = 0
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desc = node8
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cmd = if(4==v) vacuum4=0
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[step]
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sid = 24504
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state = 0
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desc = 放料
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script:
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script_end
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node_count = 11
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[node]
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nid = 3450401
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task = 1045
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type = 27
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state = 0
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desc = node1
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cmd = h = upz
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[node]
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nid = 3450402
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task = 1045
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type = 18
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state = 0
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desc = node2
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cmd = 1054
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[node]
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nid = 3450403
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task = 1045
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type = 14
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state = 1
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desc = node3
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cmd = b=0
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[node]
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nid = 3450404
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task = 1045
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type = 14
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state = 1
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desc = node4
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cmd = f=1
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[node]
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nid = 3450405
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task = 1045
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type = 1
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state = 0
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desc = node5
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cmd = 300
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[node]
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nid = 3450410
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task = 1045
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type = 14
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state = 1
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desc = 提前关破真空
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cmd = f=0
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[node]
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nid = 3450406
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task = 1045
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type = 18
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state = 0
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desc = node6
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cmd = 1055
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[node]
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nid = 3450407
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task = 1045
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type = 14
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state = 1
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desc = node7
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cmd = f=0
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[node]
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nid = 3450412
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task = 1045
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type = 27
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state = 1
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desc = node9
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cmd = if (6==t) t=3
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[node]
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nid = 3450408
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task = 1045
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type = 22
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state = 0
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desc = node8
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cmd = 31 "vacm_to_stock "+str(v)+" "+str(t)
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[node]
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nid = 3450409
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task = 1045
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type = 27
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state = 0
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desc = node9
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cmd = OKall++
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