Posts by Difallah WALID

MODULE DualGripperProgram
    ! Define constants and positions
    CONST robtarget home := [X, Y, Z, Q1, Q2, Q3, Q4];
    CONST robtarget pick_a1 := [X, Y, Z, Q1, Q2, Q3, Q4];
    CONST robtarget pick_a2 := [X, Y, Z, Q1, Q2, Q3, Q4];
    CONST robtarget pick_a3 := [X, Y, Z, Q1, Q2, Q3, Q4];
    CONST robtarget pick_a4 := [X, Y, Z, Q1, Q2, Q3, Q4];
    CONST robtarget pick_a5 := [X, Y, Z, Q1, Q2, Q3, Q4];
    CONST robtarget pick_b1 := [X, Y, Z, Q1, Q2, Q3, Q4];
    CONST robtarget pick_b2 := [X, Y, Z, Q1, Q2, Q3, Q4];
    CONST robtarget pick_b3 := [X, Y, Z, Q1, Q2, Q3, Q4];
    CONST robtarget pick_b4 := [X, Y, Z, Q1, Q2, Q3, Q4];
    CONST robtarget pick_b5 := [X, Y, Z, Q1, Q2, Q3, Q4];
    CONST robtarget place1 := [X, Y, Z, Q1, Q2, Q3, Q4];
    CONST robtarget place2 := [X, Y, Z, Q1, Q2, Q3, Q4];
    CONST robtarget place3 := [X, Y, Z, Q1, Q2, Q3, Q4];
    CONST robtarget place4 := [X, Y, Z, Q1, Q2, Q3, Q4];
    CONST robtarget place5 := [X, Y, Z, Q1, Q2, Q3, Q4];
    CONST robtarget place6 := [X, Y, Z, Q1, Q2, Q3, Q4];
    CONST robtarget place7 := [X, Y, Z, Q1, Q2, Q3, Q4];

    ! Tool definitions
    PERS tooldata gripperA := [TRUE, [X, Y, Z, Q1, Q2, Q3, Q4], [X, Y, Z, Q1, Q2, Q3, Q4, 0.001, 0.001, 0.001]];
    PERS tooldata gripperB := [TRUE, [X, Y, Z, Q1, Q2, Q3, Q4], [X, Y, Z, Q1, Q2, Q3, Q4, 0.001, 0.001, 0.001]];

    ! Variables for states
    VAR bool A_picked := FALSE;
    VAR bool B_picked := FALSE;
    VAR bool A_placed := FALSE;
    VAR bool B_placed := FALSE;

    PROC main()
        MoveJ home, v1000, fine, tool0;

        ! Initial strokes
        PickA();
        PickB();
        
        WHILE TRUE DO
            ! Gripper A places
            PlaceA();
            
            ! Gripper B places
            PlaceB();

            ! Repeat picking and placing for Gripper A
            PickA();
            PlaceA();

            ! Repeat picking and placing for Gripper B
            PickB();
            PlaceB();

            ! Ending condition
            MoveJ home, v1000, fine, tool0;
            EXIT;
        ENDWHILE
    ENDPROC

    PROC PickA()
        MoveJ pick_a1, v1000, fine, gripperA;
        ! Add vacuum on command for gripperA here
        A_picked := TRUE;
    ENDPROC

    PROC PickB()
        MoveJ pick_b1, v1000, fine, gripperB;
        ! Add vacuum on command for gripperB here
        B_picked := TRUE;
    ENDPROC

    PROC PlaceA()
        IF A_picked THEN
            MoveJ place1, v1000, fine, gripperA;
            ! Add vacuum off command for gripperA here
            A_picked := FALSE;
            A_placed := TRUE;
            EnsureOKOrRetry(gripperA, place1);
        ENDIF
    ENDPROC

    PROC PlaceB()
        IF B_picked THEN
            MoveJ place1, v1000, fine, gripperB;
            ! Add vacuum off command for gripperB here
            B_picked := FALSE;
            B_placed := TRUE;
            EnsureOKOrRetry(gripperB, place1);
        ENDIF
    ENDPROC

    PROC EnsureOKOrRetry(gripper TOOL, position robtarget)
        ! Logic to verify placement and retry if necessary
        WaitTime 1;  ! Simulate check time
        ! If placement is not okay, retry logic should be implemented here
    ENDPROC
ENDMODULE