6,0.186652],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]; CONST robtarget p20:=[[438.23,1.31,106.08],[0.0203131,9.57268E-05,-0.999 793,-0.000667479],[0,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]; CONST robtarget p30:=[[304.16,-260.11,180.68],[0.0017182,-0.347716,-0.93 7597,-0.001480087],[-1,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]; VAR robtarget p40;!objeto 1 do desenho VAR robtarget p50; VAR robtarget p60; VAR robtarget p70; VAR robtarget p80; VAR robtarget p90; VAR robtarget p100; VAR robtarget p110; CONST string figura3:="Circulo"; CONST string figura4:="Quadrado"; CONST string figura1:="Tringulo"; CONST string figura2:="Retngulo"; CONST string figura5:="Todos"; VAR num figura:=0; VAR num tempo; VAR clock timeclock; CONST robtarget p120:=[[339.35,43.98,189.93],[0.0604626,-0.960774,0.112655,- 0.246104],[0,0,2,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
PROC main() !DEFINE O PONTO DE pick EM RELAO AO P30 p40:=Offs(p30,0,100,0);!figura 1 p60:=Offs(p40,0,-100,0);!figura 2 p80:=Offs(p40,-100,0,0);!figura 3 p100:=Offs(p80,0,-100,0);!figura 4
!define o ponto de place em relao ao p40 p50:=Offs(p120,0,200,0); p70:=Offs(p50,0,200,0); p90:=Offs(p50,0,200,0); p110:=Offs(p90,0,200,0);
!MOVE PARA O PONTO DE SEGURANA MoveJ p10, v1000, z50, tool0; MoveJ p20, v1000, z50, tool0; MoveJ p120, v1000, z50, tool0;
TPWrite "Programa feito em maio de 2014"; TPReadFK figura, "Escolha a figura:", figura1, figura2, figura3, figura4 , figura5;
TEST figura
CASE 1: ClkReset timeclock; ClkStart timeclock; pick p40; WaitTime 3; place p50; WaitTime 3; ClkStop timeclock; TPWrite "O tempo do ciclo : "\Num := ClkRead(timeclock); TPErase; TPWrite "Voc escolheu o circulo!"; WaitTime 400;
CASE 2:
ClkReset timeclock; ClkStart timeclock; pick p60; WaitTime 3; place p70; WaitTime 3; ClkStop timeclock; TPWrite "O tempo do ciclo : "\Num := ClkRead(timeclock); TPErase; TPWrite "Voc escolheu o quadrado!"; WaitTime 400;
CASE 3:
ClkReset timeclock; ClkStart timeclock; pick p80; WaitTime 3; place p90; WaitTime 3; ClkStop timeclock; TPWrite "O tempo do ciclo : "\Num := ClkRead(timeclock); TPErase; TPWrite "Voc escolheu o tringulo!"; WaitTime 400; CASE 4: ClkReset timeclock; ClkStart timeclock; pick p100; WaitTime 3; place p110; WaitTime 3; ClkStop timeclock; TPWrite "O tempo do ciclo : "\Num := ClkRead(timeclock); TPErase; TPWrite "Voc escolheu o retngulo!"; WaitTime 400;
CASE 5:
ClkReset timeclock; ClkStart timeclock; pick p40; WaitTime 3; place p50; WaitTime 3; pick p60; WaitTime 3; place p70; WaitTime 3; pick p80; WaitTime 3; place p90; WaitTime 3; pick p100; WaitTime 3; place p110; WaitTime 3; ClkStop timeclock; TPWrite "O tempo do ciclo : "\Num := ClkRead(timeclock); TPErase; TPWrite "Voc escolheu Todos!"; WaitTime 400;