static void T_PREMIER_TRAJ()
{
ProgramInfo.desc = "Trajectoire facile";
ProgramInfo.groupMask = "1,*,*,*,*";
ProgramInfo.type = TP_PROGRAM;
ProgramInfo.keepBlankLine = true;
run("T_REPLI");
Flag flagDemandeQualite = F[1];
Flag flagTest = F[2];
flagDemandeQualite.Off();
if (flagDemandeQualite.State == ON && flagTest.State == OFF || flagTest.State == ON)
{
//! test
goto autreLabel;
}
//! par Louis Gobert
//! Set de UTOOL et UFRAME
Uframe.set(frameOrange);
Utool.set(toolPince);
T_OUV_PINCE();
Pos pApproche = new Pos(1);
move.joint(pApproche, 100, 50);
Pos jRepli = new Pos(2);
Pos pPrise = new Pos(3);
PosReg pCalculer = PR[12];
pCalculer.Desc = "Point calcule";
PosReg pTemp = PR[11];
pCalculer.set(pTemp);
move.joint(jRepli, 12, 100);
move.linear(pPrise, 123, FINE);
print("Prise de la piece");
T_FERM_PINCE();
move.linear(pApproche, 12, FINE);
move.joint(jRepli, 12, FINE);
print("Fin du programme.");
RO pince = RO[11];
if (pince.State == ON)
{
goto lablTest;
}
else
{
goto autreLabel;
}
autreLabel:
if (RO[1].State == OFF)
{
print("Fermer");
}
if (RO[12].State == ON)
{
print("12 fermer");
}
lablTest:
print("Arrive au label");
}
