Rutina2: Practica2_3_Robotstudio

PROC matriu_p100()

        VAR intnum P100_X:= 0;
        VAR intnum P100_Y:= 0;
        p100aux := p100;
        COUNT := 0;
        TPErase;


        FOR j FROM 1 TO 3 DO

            MoveJ phome, v1000, z50, MyTool;
            WaitTime 2;

            FOR i FROM 1 TO 4 DO


            MoveJ p100aux, v1000, fine, MyTool;
                MoveL Offs(p100aux,0,40,0), v1000, fine, MyTool;
                MoveL Offs(p100aux,-30,40,0), v1000, fine, MyTool;
                MoveL Offs(p100aux,-30,0,0), v1000, fine, MyTool;
                MoveL Offs(p100aux,0,0,0), v1000, fine, MyTool;

                P100_Y := i*(80);
                p100aux := Offs(p100,P100_X,P100_Y,0);
                COUNT := COUNT +1;
                TPWrite "Quadrats realitzats: "\Num:=COUNT;

                IF i < 4 THEN
                    MoveJ p0, v1000, z50, MyTool;
                    WaitTime 2;

                ENDIF



        ENDFOR

        P100_X:= j*(-70);
        P100_Y:= 0;
        p100aux := Offs(p100,P100_X,P100_Y,0);



        ENDFOR





    ENDPROC