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polaroi8d/robotika_rapid

Created April 25, 2016 17:12
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Hanoi torony kötelező program - 2016 Robotika
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robotika_rapid
MODULE Module1
CONST robtarget HOME:=[[574.413415721,0,657.490349582],[0.183012788,0.683012679,-0.683012679,-0.183012788],[-1,0,-1,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
CONST robtarget left_1:=[[700,150.777816878,115.1],[0.698802999,0.053214185,0.080749775,0.708746847],[0,-2,-1,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
CONST robtarget left_2:=[[700,150.380298069,70.1],[0.700021621,0.054177409,0.080168306,0.707536275],[0,-2,-1,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
CONST robtarget left_3:=[[700,150.38022743,25.1],[0.700021741,0.054177395,0.080168457,0.70753614],[0,-2,-1,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
CONST robtarget mid_1:=[[700,0,115.1],[0.700021772,0.054177414,0.080169161,0.707536029],[-1,-3,-1,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
CONST robtarget mid_2:=[[700,0,70.1],[0.700022015,0.054177512,0.0801688,0.707535822],[-1,-3,-1,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
CONST robtarget mid_3:=[[700,0,25.1],[0.700022147,0.05417743,0.080168535,0.707535728],[-1,-3,-1,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
CONST robtarget right_1:=[[700,-149.962906942,115.1],[0.700022175,0.054177369,0.080169173,0.707535632],[-1,-3,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
CONST robtarget right_2:=[[700,-149.962906942,70.1],[0.700022135,0.054177024,0.080168803,0.707535741],[-1,-3,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
CONST robtarget right_3:=[[700,-149.962881687,25.1],[0.700022036,0.054176949,0.080168922,0.707535831],[-1,-3,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
CONST robtarget left_emel:=[[700,150.777816878,150],[0.698802999,0.053214185,0.080749775,0.708746847],[0,-2,-1,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
CONST robtarget mid_emel:=[[700,-1.45077369,150],[0.700021772,0.054177414,0.080169161,0.707536029],[-1,-3,-1,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
CONST robtarget right_emel:=[[700,-149.96284212,150],[0.700022175,0.054177369,0.080169173,0.707535632],[-1,-3,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
VAR num fomenu;
VAR num balmenu;
VAR num kozepmenu;
VAR num jobbmenu;
PROC Megfog()
PulseDO DO10_2;
WaitTime 1;
ENDPROC
PROC Elenged()
PulseDO DO10_1;
WaitTime 1;
ENDPROC
PROC FutoszalagIndit()
SetDO DO10_3, 1;
WaitTime 1;
ENDPROC
PROC FutoszalagStop()
SetDO DO10_3, 0;
WaitTime 1;
ENDPROC
PROC GoHome()
MoveJ HOME,v1000,fine,MegfogoTool\WObj:=wobj0;
ENDPROC
PROC mozgas()
MoveJ HOME,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ left_1,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ left_2,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ left_3,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ mid_1,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ mid_2,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ mid_3,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ right_1,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ right_2,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ right_3,v1000,fine,MegfogoTool\WObj:=wobj0;
ENDPROC
PROC emel()
MoveJ left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
ENDPROC
PROC vissza()
MoveJ left_3,v1000,fine,MegfogoTool\WObj:=wobj0;
Megfog;
MoveJ mid_2,v1000,fine,MegfogoTool\WObj:=wobj0;
Elenged;
MoveJ right_3,v1000,fine,MegfogoTool\WObj:=wobj0;
Megfog;
MoveJ mid_1,v1000,fine,MegfogoTool\WObj:=wobj0;
ENDPROC
PROC main()
menu;
ENDPROC
PROC menu()
TPReadFK fomenu, "Honnan szeretned atpakolni a hengereket?", stEmpty, stEmpty, "Bal", "Kozep", "Jobb";
TEST fomenu
CASE 3:
TPWrite "HENGEREK ELHELYEZKEDES: BAL";
TPReadFK balmenu, "Most valaszd ki, hogy hova szeretned oket tenni?", stEmpty, stEmpty, stEmpty, "Kozep", "Jobb";
TEST balmenu
CASE 4:
TPWrite "Sikeres kivalasztas! BAL -> KOZEP";
lefttomid;
Break;
CASE 5:
TPWrite "Sikeres kivalasztas! BAL -> JOBB";
lefttoright;
DEFAULT: Break;
ENDTEST
CASE 4:
TPWrite "HENGEREK ELHELYEZKEDES: KOZEP";
TPReadFK kozepmenu, "Most valaszd ki, hogy hova szeretned oket tenni?", stEmpty, stEmpty, stEmpty, "Bal", "Jobb";
IF kozepmenu=4 THEN
TPWrite "Sikeres kivalasztas! KOZEP -> BAL";
midtoleft;
ELSEIF kozepmenu=5 THEN
TPWrite "Sikeres kivalasztas! KOZEP -> JOBB";
midtoright;
ENDIF
Break;
CASE 5:
TPWrite "HENGEREK ELHELYEZKEDES: JOBB";
TPReadFK jobbmenu, "Most valaszd ki, hogy hova szeretned oket tenni?", stEmpty, stEmpty, stEmpty, "Bal", "Kozep";
IF jobbmenu=4 THEN
TPWrite "Sikeres kivalasztas! JOBB -> BAL";
righttoleft;
ELSEIF jobbmenu=5 THEN
TPWrite "Sikeres kivalasztas! JOBB -> KOZEP";
righttomid;
ENDIF
Break;
DEFAULT: EXIT;
ENDTEST
ENDPROC
PROC lefttoright()
GoHome;
MoveJ left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ left_1,v1000,fine,MegfogoTool\WObj:=wobj0;
Megfog;
MoveJ left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ right_3,v1000,fine,MegfogoTool\WObj:=wobj0;
Elenged;
MoveJ right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ left_2,v1000,fine,MegfogoTool\WObj:=wobj0;
Megfog;
MoveJ left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ mid_3,v1000,fine,MegfogoTool\WObj:=wobj0;
Elenged;
MoveJ mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ right_3,v1000,fine,MegfogoTool\WObj:=wobj0;
Megfog;
MoveJ right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ mid_2,v1000,fine,MegfogoTool\WObj:=wobj0;
Elenged;
MoveJ mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ left_3,v1000,fine,MegfogoTool\WObj:=wobj0;
Megfog;
MoveJ left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ right_3,v1000,fine,MegfogoTool\WObj:=wobj0;
Elenged;
MoveJ right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ mid_2,v1000,fine,MegfogoTool\WObj:=wobj0;
Megfog;
MoveJ mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ left_3,v1000,fine,MegfogoTool\WObj:=wobj0;
Elenged;
MoveJ left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ mid_3,v1000,fine,MegfogoTool\WObj:=wobj0;
Megfog;
MoveJ mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ right_2,v1000,fine,MegfogoTool\WObj:=wobj0;
Elenged;
MoveJ right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ left_3,v1000,fine,MegfogoTool\WObj:=wobj0;
Megfog;
MoveJ left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ right_1,v1000,fine,MegfogoTool\WObj:=wobj0;
Elenged;
MoveJ right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
GoHome;
ENDPROC
PROC lefttomid()
GoHome;
MoveJ left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ left_1,v1000,fine,MegfogoTool\WObj:=wobj0;
Megfog;
MoveJ left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ mid_3,v1000,fine,MegfogoTool\WObj:=wobj0;
Elenged;
MoveJ mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ left_2,v1000,fine,MegfogoTool\WObj:=wobj0;
Megfog;
MoveJ left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ right_3,v1000,fine,MegfogoTool\WObj:=wobj0;
Elenged;
MoveJ right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ mid_3,v1000,fine,MegfogoTool\WObj:=wobj0;
Megfog;
MoveJ mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ right_2,v1000,fine,MegfogoTool\WObj:=wobj0;
Elenged;
MoveJ right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ left_3,v1000,fine,MegfogoTool\WObj:=wobj0;
Megfog;
MoveJ left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ mid_3,v1000,fine,MegfogoTool\WObj:=wobj0;
Elenged;
MoveJ mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ right_2,v1000,fine,MegfogoTool\WObj:=wobj0;
Megfog;
MoveJ right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ left_3,v1000,fine,MegfogoTool\WObj:=wobj0;
Elenged;
MoveJ right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ right_3,v1000,fine,MegfogoTool\WObj:=wobj0;
Megfog;
MoveJ right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ mid_2,v1000,fine,MegfogoTool\WObj:=wobj0;
Elenged;
MoveJ mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ left_3,v1000,fine,MegfogoTool\WObj:=wobj0;
Megfog;
MoveJ left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ mid_1,v1000,fine,MegfogoTool\WObj:=wobj0;
Elenged;
MoveJ mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
GoHome;
ENDPROC
PROC midtoleft()
GoHome;
MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ mid_1,v1000,fine,MegfogoTool\WObj:=wobj0;
Megfog;
MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ left_3,v1000,fine,MegfogoTool\WObj:=wobj0;
Elenged;
MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ mid_2,v1000,fine,MegfogoTool\WObj:=wobj0;
Megfog;
MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ right_3,v1000,fine,MegfogoTool\WObj:=wobj0;
Elenged;
MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ left_3,v1000,fine,MegfogoTool\WObj:=wobj0;
Megfog;
MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ right_2,v1000,fine,MegfogoTool\WObj:=wobj0;
Elenged;
MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ mid_3,v1000,fine,MegfogoTool\WObj:=wobj0;
Megfog;
MoveJ mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ left_3,v1000,fine,MegfogoTool\WObj:=wobj0;
Elenged;
MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ right_2,v1000,fine,MegfogoTool\WObj:=wobj0;
Megfog;
MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ mid_3,v1000,fine,MegfogoTool\WObj:=wobj0;
Elenged;
MoveJ mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ right_3,v1000,fine,MegfogoTool\WObj:=wobj0;
Megfog;
MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ left_2,v1000,fine,MegfogoTool\WObj:=wobj0;
Elenged;
MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ mid_3,v1000,fine,MegfogoTool\WObj:=wobj0;
Megfog;
MoveJ mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ left_1,v1000,fine,MegfogoTool\WObj:=wobj0;
Elenged;
MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
GoHome;
ENDPROC
PROC midtoright()
GoHome;
MoveJ mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ mid_1,v1000,fine,MegfogoTool\WObj:=wobj0;
Megfog;
MoveJ mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ right_3,v1000,fine,MegfogoTool\WObj:=wobj0;
Elenged;
MoveJ right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ mid_2,v1000,fine,MegfogoTool\WObj:=wobj0;
Megfog;
MoveJ mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ left_3,v1000,fine,MegfogoTool\WObj:=wobj0;
Elenged;
MoveJ left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ right_3,v1000,fine,MegfogoTool\WObj:=wobj0;
Megfog;
MoveJ right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ left_2,v1000,fine,MegfogoTool\WObj:=wobj0;
Elenged;
MoveJ left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ mid_3,v1000,fine,MegfogoTool\WObj:=wobj0;
Megfog;
MoveJ mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ right_3,v1000,fine,MegfogoTool\WObj:=wobj0;
Elenged;
MoveJ right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ left_2,v1000,fine,MegfogoTool\WObj:=wobj0;
Megfog;
MoveJ left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ mid_3,v1000,fine,MegfogoTool\WObj:=wobj0;
Elenged;
MoveJ mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ left_3,v1000,fine,MegfogoTool\WObj:=wobj0;
Megfog;
MoveJ left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ right_2,v1000,fine,MegfogoTool\WObj:=wobj0;
Elenged;
MoveJ right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ mid_3,v1000,fine,MegfogoTool\WObj:=wobj0;
Megfog;
MoveJ mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ right_1,v1000,fine,MegfogoTool\WObj:=wobj0;
Elenged;
MoveJ right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
GoHome;
ENDPROC
PROC righttomid()
GoHome;
MoveJ right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ right_1,v1000,fine,MegfogoTool\WObj:=wobj0;
Megfog;
MoveJ right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ mid_3,v1000,fine,MegfogoTool\WObj:=wobj0;
Elenged;
MoveJ mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ right_2,v1000,fine,MegfogoTool\WObj:=wobj0;
Megfog;
MoveJ right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ left_3,v1000,fine,MegfogoTool\WObj:=wobj0;
Elenged;
MoveJ left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ mid_3,v1000,fine,MegfogoTool\WObj:=wobj0;
Megfog;
MoveJ mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ left_2,v1000,fine,MegfogoTool\WObj:=wobj0;
Elenged;
MoveJ left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ right_3,v1000,fine,MegfogoTool\WObj:=wobj0;
Megfog;
MoveJ right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ mid_3,v1000,fine,MegfogoTool\WObj:=wobj0;
Elenged;
MoveJ mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ left_2,v1000,fine,MegfogoTool\WObj:=wobj0;
Megfog;
MoveJ left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ right_3,v1000,fine,MegfogoTool\WObj:=wobj0;
Elenged;
MoveJ right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ left_3,v1000,fine,MegfogoTool\WObj:=wobj0;
Megfog;
MoveJ left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ mid_2,v1000,fine,MegfogoTool\WObj:=wobj0;
Elenged;
MoveJ mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ right_3,v1000,fine,MegfogoTool\WObj:=wobj0;
Megfog;
MoveJ right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ mid_1,v1000,fine,MegfogoTool\WObj:=wobj0;
Elenged;
MoveJ mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
GoHome;
ENDPROC
PROC righttoleft()
GoHome;
MoveJ right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ right_1,v1000,fine,MegfogoTool\WObj:=wobj0;
Megfog;
MoveJ right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ left_3,v1000,fine,MegfogoTool\WObj:=wobj0;
Elenged;
MoveJ left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ right_2,v1000,fine,MegfogoTool\WObj:=wobj0;
Megfog;
MoveJ right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ mid_3,v1000,fine,MegfogoTool\WObj:=wobj0;
Elenged;
MoveJ mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ left_3,v1000,fine,MegfogoTool\WObj:=wobj0;
Megfog;
MoveJ left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ mid_2,v1000,fine,MegfogoTool\WObj:=wobj0;
Elenged;
MoveJ mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ right_3,v1000,fine,MegfogoTool\WObj:=wobj0;
Megfog;
MoveJ right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ left_3,v1000,fine,MegfogoTool\WObj:=wobj0;
Elenged;
MoveJ left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ mid_2,v1000,fine,MegfogoTool\WObj:=wobj0;
Megfog;
MoveJ mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ right_3,v1000,fine,MegfogoTool\WObj:=wobj0;
Elenged;
MoveJ right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ mid_3,v1000,fine,MegfogoTool\WObj:=wobj0;
Megfog;
MoveJ mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ left_2,v1000,fine,MegfogoTool\WObj:=wobj0;
Elenged;
MoveJ left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ right_3,v1000,fine,MegfogoTool\WObj:=wobj0;
Megfog;
MoveJ right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
MoveJ left_1,v1000,fine,MegfogoTool\WObj:=wobj0;
Elenged;
MoveJ left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
GoHome;
ENDPROC
ENDMODULE
@polaroi8d
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Author 

MODULE Module1
    CONST robtarget HOME:=[[574.413415721,0,657.490349582],[0.183012788,0.683012679,-0.683012679,-0.183012788],[-1,0,-1,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
    CONST robtarget left_1:=[[700,150.777816878,115.1],[0.698802999,0.053214185,0.080749775,0.708746847],[0,-2,-1,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
    CONST robtarget left_2:=[[700,150.380298069,70.1],[0.700021621,0.054177409,0.080168306,0.707536275],[0,-2,-1,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
    CONST robtarget left_3:=[[700,150.38022743,55],[0.718135857,0.067592627,0.072004044,0.688859598],[0,-2,-1,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
    CONST robtarget mid_1:=[[700,0,115.1],[0.700021772,0.054177414,0.080169161,0.707536029],[-1,-3,-1,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
    CONST robtarget mid_2:=[[700,0,70.1],[0.700022015,0.054177512,0.0801688,0.707535822],[-1,-3,-1,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
    CONST robtarget mid_3:=[[700,0,55],[0.718135857,0.067592627,0.072004044,0.688859598],[-1,-3,-1,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
    CONST robtarget right_1:=[[700,-149.962906942,115.1],[0.700022175,0.054177369,0.080169173,0.707535632],[-1,-3,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
    CONST robtarget right_2:=[[700,-149.962906942,70.1],[0.700022135,0.054177024,0.080168803,0.707535741],[-1,-3,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
    CONST robtarget right_3:=[[700,-149.962881687,55],[0.718135857,0.067592627,0.072004044,0.688859598],[-1,-3,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
    CONST robtarget left_emel:=[[700,150.777816878,150],[0.698802999,0.053214185,0.080749775,0.708746847],[0,-2,-1,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
    CONST robtarget mid_emel:=[[700,-1.45077369,150],[0.700021772,0.054177414,0.080169161,0.707536029],[-1,-3,-1,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
    CONST robtarget right_emel:=[[700,-149.96284212,150],[0.700022175,0.054177369,0.080169173,0.707535632],[-1,-3,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
    VAR num fomenu;
    VAR num balmenu;
    VAR num kozepmenu;
    VAR num jobbmenu;
    CONST robtarget Target_10:=[[a699.583451152,150.78255535,54.954575099],[0.718135857,0.067592627,0.072004044,0.688859598],[0,-2,-1,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
    PROC Megfog()
        PulseDO DO10_2;
        WaitTime 1;
    ENDPROC
    PROC Elenged()
        PulseDO DO10_1;
        WaitTime 1;
    ENDPROC  
    PROC FutoszalagIndit()
        SetDO DO10_3, 1;
        WaitTime 1;
    ENDPROC
    PROC FutoszalagStop()
        SetDO DO10_3, 0;
        WaitTime 1;
    ENDPROC
    PROC GoHome()
        MoveJ HOME,v1000,fine,MegfogoTool\WObj:=wobj0;
    ENDPROC
    PROC mozgas()
        MoveJ HOME,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ left_1,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ left_2,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ left_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ mid_1,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ mid_2,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ mid_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ right_1,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ right_2,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ right_3,v1000,fine,MegfogoTool\WObj:=wobj0;
    ENDPROC
    PROC emel()
        MoveJ left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
    ENDPROC
    PROC vissza()
        MoveJ left_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Megfog;
        MoveJ mid_2,v1000,fine,MegfogoTool\WObj:=wobj0;
        Elenged;
        MoveJ right_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Megfog;
        MoveJ mid_1,v1000,fine,MegfogoTool\WObj:=wobj0;
    ENDPROC
    PROC main()
        menu;
    ENDPROC
    PROC menu()
        TPReadFK fomenu, "Honnan szeretned atpakolni a hengereket?", stEmpty, stEmpty, "Bal", "Kozep", "Jobb";
        TEST fomenu
            CASE 3:
                TPWrite "HENGEREK ELHELYEZKEDES: BAL";
                TPReadFK balmenu, "Most valaszd ki, hogy hova szeretned oket tenni?", stEmpty, stEmpty, stEmpty, "Kozep", "Jobb";
                TEST balmenu 
                    CASE 4:
                        TPWrite "Sikeres kivalasztas! BAL -> KOZEP";
                        lefttomid;
                        Break;
                    CASE 5:
                        TPWrite "Sikeres kivalasztas! BAL -> JOBB";
                        lefttoright;
                    DEFAULT: Break;
                ENDTEST
            CASE 4:
                TPWrite "HENGEREK ELHELYEZKEDES: KOZEP";
                TPReadFK kozepmenu, "Most valaszd ki, hogy hova szeretned oket tenni?", stEmpty, stEmpty, stEmpty, "Bal", "Jobb";
                IF kozepmenu=4 THEN
                    TPWrite "Sikeres kivalasztas! KOZEP -> BAL";
                    midtoleft;
                ELSEIF kozepmenu=5 THEN
                    TPWrite "Sikeres kivalasztas! KOZEP -> JOBB";
                    midtoright;
                ENDIF
                Break;
            CASE 5:
                TPWrite "HENGEREK ELHELYEZKEDES: JOBB";
                TPReadFK jobbmenu, "Most valaszd ki, hogy hova szeretned oket tenni?", stEmpty, stEmpty, stEmpty, "Bal", "Kozep";
                IF jobbmenu=4 THEN
                    TPWrite "Sikeres kivalasztas! JOBB -> BAL";
                    righttoleft;
                ELSEIF jobbmenu=5 THEN
                    TPWrite "Sikeres kivalasztas! JOBB -> KOZEP";
                    righttomid;
                ENDIF
                Break;
            DEFAULT: EXIT;
        ENDTEST
    ENDPROC

    PROC lefttoright()
        GoHome;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ left_1,v1000,fine,MegfogoTool\WObj:=wobj0;
        Megfog;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ right_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Elenged;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ left_2,v1000,fine,MegfogoTool\WObj:=wobj0;
        Megfog;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ mid_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Elenged;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ right_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Megfog;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ mid_2,v1000,fine,MegfogoTool\WObj:=wobj0;
        Elenged;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ left_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Megfog;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ right_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Elenged;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ mid_2,v1000,fine,MegfogoTool\WObj:=wobj0;
        Megfog;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ left_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Elenged;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ mid_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Megfog;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ right_2,v1000,fine,MegfogoTool\WObj:=wobj0;
        Elenged;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ left_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Megfog;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ right_1,v1000,fine,MegfogoTool\WObj:=wobj0;
        Elenged;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        GoHome;
    ENDPROC

    PROC lefttomid()
        GoHome;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ left_1,v1000,fine,MegfogoTool\WObj:=wobj0;
        Megfog;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;  
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ mid_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Elenged;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ left_2,v1000,fine,MegfogoTool\WObj:=wobj0;
        Megfog;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;  
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ right_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Elenged;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ mid_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Megfog;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ right_2,v1000,fine,MegfogoTool\WObj:=wobj0;
        Elenged;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ left_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Megfog;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ mid_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Elenged;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ right_2,v1000,fine,MegfogoTool\WObj:=wobj0;
        Megfog;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ left_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Elenged;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ right_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Megfog;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ mid_2,v1000,fine,MegfogoTool\WObj:=wobj0;
        Elenged;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ left_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Megfog;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ mid_1,v1000,fine,MegfogoTool\WObj:=wobj0;
        Elenged;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        GoHome;
    ENDPROC

    PROC midtoleft()
        GoHome;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ mid_1,v1000,fine,MegfogoTool\WObj:=wobj0;
        Megfog;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0; 
        MoveJ left_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Elenged;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0; 
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ mid_2,v1000,fine,MegfogoTool\WObj:=wobj0;
        Megfog;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ right_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Elenged;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0; 
        MoveJ left_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Megfog;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ right_2,v1000,fine,MegfogoTool\WObj:=wobj0;
        Elenged;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;        
        MoveJ mid_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Megfog;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0; 
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ left_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Elenged;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;        
        MoveJ right_2,v1000,fine,MegfogoTool\WObj:=wobj0;
        Megfog;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ mid_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Elenged;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ right_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Megfog;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ left_2,v1000,fine,MegfogoTool\WObj:=wobj0;
        Elenged;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;        
        MoveJ mid_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Megfog;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ left_1,v1000,fine,MegfogoTool\WObj:=wobj0;
        Elenged;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        GoHome;
    ENDPROC

    PROC midtoright()
        GoHome;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ mid_1,v1000,fine,MegfogoTool\WObj:=wobj0;
        Megfog;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ right_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Elenged;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ mid_2,v1000,fine,MegfogoTool\WObj:=wobj0;
        Megfog;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ left_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Elenged;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ right_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Megfog;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ left_2,v1000,fine,MegfogoTool\WObj:=wobj0;
        Elenged;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ mid_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Megfog;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ right_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Elenged;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ left_2,v1000,fine,MegfogoTool\WObj:=wobj0;
        Megfog;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ mid_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Elenged;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ left_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Megfog;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ right_2,v1000,fine,MegfogoTool\WObj:=wobj0;
        Elenged;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ mid_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Megfog;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0; 
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ right_1,v1000,fine,MegfogoTool\WObj:=wobj0;
        Elenged;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        GoHome;
    ENDPROC

    PROC righttomid()
        GoHome;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ right_1,v1000,fine,MegfogoTool\WObj:=wobj0;
        Megfog;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ mid_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Elenged;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ right_2,v1000,fine,MegfogoTool\WObj:=wobj0;
        Megfog;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ left_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Elenged;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ mid_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Megfog;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ left_2,v1000,fine,MegfogoTool\WObj:=wobj0;
        Elenged;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ right_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Megfog;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ mid_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Elenged;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ left_2,v1000,fine,MegfogoTool\WObj:=wobj0;
        Megfog;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ right_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Elenged;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ left_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Megfog;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ mid_2,v1000,fine,MegfogoTool\WObj:=wobj0;
        Elenged;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ right_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Megfog;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ mid_1,v1000,fine,MegfogoTool\WObj:=wobj0;
        Elenged;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        GoHome;
    ENDPROC

    PROC righttoleft()
        GoHome;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ right_1,v1000,fine,MegfogoTool\WObj:=wobj0;
        Megfog;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ left_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Elenged;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ right_2,v1000,fine,MegfogoTool\WObj:=wobj0;
        Megfog;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ mid_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Elenged;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ left_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Megfog;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ mid_2,v1000,fine,MegfogoTool\WObj:=wobj0;
        Elenged;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ right_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Megfog;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ left_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Elenged;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ mid_2,v1000,fine,MegfogoTool\WObj:=wobj0;
        Megfog;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ right_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Elenged;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ mid_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Megfog;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ left_2,v1000,fine,MegfogoTool\WObj:=wobj0;
        Elenged;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ right_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Megfog;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ left_1,v1000,fine,MegfogoTool\WObj:=wobj0;
        Elenged;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        GoHome;
    ENDPROC
    PROC Path_10()
        MoveL Target_10,v1000,z100,MegfogoTool\WObj:=wobj0;
    ENDPROC

ENDMODULE

@tthdvd
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tthdvd commented May 10, 2016 •
edited
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MODULE Module1
    CONST robtarget HOME:=[[574.413415721,0,657.490349582],[0.183012788,0.683012679,-0.683012679,-0.183012788],[-1,0,-1,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
    CONST robtarget left_1:=[[700,150,135.1],[0.698802999,0.053214185,0.080749775,0.708746847],[0,-2,-1,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
    CONST robtarget left_2:=[[700,150,95.1],[0.700021621,0.054177409,0.080168306,0.707536275],[0,-2,-1,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
    !CONST robtarget left_3:=[[700,150.38022743,25.1],[0.700021741,0.054177395,0.080168457,0.70753614],[0,-2,-1,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
    CONST robtarget mid_1:=[[700,0,135.1],[0.700021772,0.054177414,0.080169161,0.707536029],[-1,-3,-1,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
    CONST robtarget mid_2:=[[700,0,95.1],[0.700022015,0.054177512,0.0801688,0.707535822],[-1,-3,-1,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
    !CONST robtarget mid_3:=[[700,0,25.1],[0.700022147,0.05417743,0.080168535,0.707535728],[-1,-3,-1,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
    CONST robtarget right_1:=[[700,-150,115.1],[0.700022175,0.054177369,0.080169173,0.707535632],[-1,-3,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
    CONST robtarget right_2:=[[700,-150,95.1],[0.700022135,0.054177024,0.080168803,0.707535741],[-1,-3,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
    !CONST robtarget right_3:=[[700,-149.962881687,25.1],[0.700022036,0.054176949,0.080168922,0.707535831],[-1,-3,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]];

    CONST robtarget left_emel:=[[700,150.777816878,150],[0.698802999,0.053214185,0.080749775,0.708746847],[0,-2,-1,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
    CONST robtarget mid_emel:=[[700,-1.45077369,150],[0.700021772,0.054177414,0.080169161,0.707536029],[-1,-3,-1,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
    CONST robtarget right_emel:=[[700,-149.96284212,150],[0.700022175,0.054177369,0.080169173,0.707535632],[-1,-3,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]];

    VAR num fomenu;
    VAR num balmenu;
    VAR num kozepmenu;
    VAR num jobbmenu;
    CONST robtarget left_3:=[[700,150,50],[0.700021736,0.054176964,0.080168538,0.707536169],[0,-2,-1,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
    CONST robtarget mid_3:=[[700,0.000002441,50],[0.700022402,0.054177897,0.080168533,0.70753544],[-1,-3,-1,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
    CONST robtarget right_3:=[[700,-150,50],[0.700022302,0.054177706,0.080168733,0.707535531],[-1,-3,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]];





    PROC Megfog()
        PulseDO DO10_2;
        WaitTime 1;
    ENDPROC
    PROC Elenged()
        PulseDO DO10_1;
        WaitTime 1;
    ENDPROC  
    PROC FutoszalagIndit()
        SetDO DO10_3, 1;
        WaitTime 1;
    ENDPROC
    PROC FutoszalagStop()
        SetDO DO10_3, 0;
        WaitTime 1;
    ENDPROC
    PROC GoHome()
        MoveJ HOME,v1000,fine,MegfogoTool\WObj:=wobj0;
    ENDPROC
    PROC mozgas()
        MoveJ HOME,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ left_1,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ left_2,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ left_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ mid_1,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ mid_2,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ mid_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ right_1,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ right_2,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ right_3,v1000,fine,MegfogoTool\WObj:=wobj0;
    ENDPROC
    PROC emel()
        MoveJ left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
    ENDPROC
    PROC vissza()
        MoveJ left_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Megfog;
        MoveJ mid_2,v1000,fine,MegfogoTool\WObj:=wobj0;
        Elenged;
        MoveJ right_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Megfog;
        MoveJ mid_1,v1000,fine,MegfogoTool\WObj:=wobj0;
    ENDPROC
    PROC main()
        menu;
    ENDPROC
    PROC menu()

        TPReadFK fomenu, "Honnan szeretned atpakolni a hengereket?", stEmpty, stEmpty, "Bal", "Kozep", "Jobb";
        TEST fomenu
            CASE 3:
                TPWrite "HENGEREK ELHELYEZKEDES: BAL";
                TPReadFK balmenu, "Most valaszd ki, hogy hova szeretned oket tenni?", stEmpty, stEmpty, stEmpty, "Kozep", "Jobb";
                TEST balmenu 
                    CASE 4:
                        TPWrite "Sikeres kivalasztas! BAL -> KOZEP";
                        lefttomid;
                        Break;
                    CASE 5:
                        TPWrite "Sikeres kivalasztas! BAL -> JOBB";
                        lefttoright;
                    DEFAULT: Break;
                ENDTEST
            CASE 4:
                TPWrite "HENGEREK ELHELYEZKEDES: KOZEP";
                TPReadFK kozepmenu, "Most valaszd ki, hogy hova szeretned oket tenni?", stEmpty, stEmpty, stEmpty, "Bal", "Jobb";
                IF kozepmenu=4 THEN
                    TPWrite "Sikeres kivalasztas! KOZEP -> BAL";
                    midtoleft;
                ELSEIF kozepmenu=5 THEN
                    TPWrite "Sikeres kivalasztas! KOZEP -> JOBB";
                    midtoright;
                ENDIF
                Break;
            CASE 5:
                TPWrite "HENGEREK ELHELYEZKEDES: JOBB";
                TPReadFK jobbmenu, "Most valaszd ki, hogy hova szeretned oket tenni?", stEmpty, stEmpty, stEmpty, "Bal", "Kozep";
                IF jobbmenu=4 THEN
                    TPWrite "Sikeres kivalasztas! JOBB -> BAL";
                    righttoleft;
                ELSEIF jobbmenu=5 THEN
                    TPWrite "Sikeres kivalasztas! JOBB -> KOZEP";
                    righttomid;
                ENDIF
                Break;
            DEFAULT: EXIT;
        ENDTEST
    ENDPROC
     PROC lefttoright()
        GoHome;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ left_1,v1000,fine,MegfogoTool\WObj:=wobj0;
        Megfog;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ right_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Elenged;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ left_2,v1000,fine,MegfogoTool\WObj:=wobj0;
        Megfog;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ mid_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Elenged;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ right_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Megfog;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ mid_2,v1000,fine,MegfogoTool\WObj:=wobj0;
        Elenged;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ left_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Megfog;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ right_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Elenged;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ mid_2,v1000,fine,MegfogoTool\WObj:=wobj0;
        Megfog;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ left_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Elenged;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ mid_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Megfog;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ right_2,v1000,fine,MegfogoTool\WObj:=wobj0;
        Elenged;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ left_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Megfog;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ right_1,v1000,fine,MegfogoTool\WObj:=wobj0;
        Elenged;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        GoHome;
    ENDPROC

    PROC lefttomid()
        GoHome;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ left_1,v1000,fine,MegfogoTool\WObj:=wobj0;
        Megfog;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;  
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ mid_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Elenged;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ left_2,v1000,fine,MegfogoTool\WObj:=wobj0;
        Megfog;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;  
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ right_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Elenged;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ mid_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Megfog;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ right_2,v1000,fine,MegfogoTool\WObj:=wobj0;
        Elenged;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ left_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Megfog;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ mid_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Elenged;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ right_2,v1000,fine,MegfogoTool\WObj:=wobj0;
        Megfog;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ left_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Elenged;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ right_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Megfog;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ mid_2,v1000,fine,MegfogoTool\WObj:=wobj0;
        Elenged;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ left_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Megfog;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ mid_1,v1000,fine,MegfogoTool\WObj:=wobj0;
        Elenged;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        GoHome;
    ENDPROC

    PROC midtoleft()
        GoHome;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ mid_1,v1000,fine,MegfogoTool\WObj:=wobj0;
        Megfog;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0; 
        MoveJ left_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Elenged;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0; 
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ mid_2,v1000,fine,MegfogoTool\WObj:=wobj0;
        Megfog;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ right_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Elenged;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0; 
        MoveJ left_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Megfog;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ right_2,v1000,fine,MegfogoTool\WObj:=wobj0;
        Elenged;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;        
        MoveJ mid_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Megfog;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0; 
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ left_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Elenged;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;        
        MoveJ right_2,v1000,fine,MegfogoTool\WObj:=wobj0;
        Megfog;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ mid_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Elenged;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ right_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Megfog;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ left_2,v1000,fine,MegfogoTool\WObj:=wobj0;
        Elenged;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;        
        MoveJ mid_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Megfog;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ left_1,v1000,fine,MegfogoTool\WObj:=wobj0;
        Elenged;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        GoHome;
    ENDPROC

    PROC midtoright()
        GoHome;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ mid_1,v1000,fine,MegfogoTool\WObj:=wobj0;
        Megfog;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ right_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Elenged;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ mid_2,v1000,fine,MegfogoTool\WObj:=wobj0;
        Megfog;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ left_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Elenged;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ right_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Megfog;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ left_2,v1000,fine,MegfogoTool\WObj:=wobj0;
        Elenged;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ mid_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Megfog;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ right_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Elenged;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ left_2,v1000,fine,MegfogoTool\WObj:=wobj0;
        Megfog;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ mid_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Elenged;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ left_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Megfog;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ right_2,v1000,fine,MegfogoTool\WObj:=wobj0;
        Elenged;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ mid_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Megfog;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0; 
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ right_1,v1000,fine,MegfogoTool\WObj:=wobj0;
        Elenged;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        GoHome;
    ENDPROC

    PROC righttomid()
        GoHome;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ right_1,v1000,fine,MegfogoTool\WObj:=wobj0;
        Megfog;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ mid_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Elenged;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ right_2,v1000,fine,MegfogoTool\WObj:=wobj0;
        Megfog;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ left_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Elenged;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ mid_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Megfog;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ left_2,v1000,fine,MegfogoTool\WObj:=wobj0;
        Elenged;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ right_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Megfog;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ mid_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Elenged;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ left_2,v1000,fine,MegfogoTool\WObj:=wobj0;
        Megfog;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ right_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Elenged;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ left_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Megfog;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ mid_2,v1000,fine,MegfogoTool\WObj:=wobj0;
        Elenged;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ right_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Megfog;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ mid_1,v1000,fine,MegfogoTool\WObj:=wobj0;
        Elenged;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        GoHome;
    ENDPROC

    PROC righttoleft()
        GoHome;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ right_1,v1000,fine,MegfogoTool\WObj:=wobj0;
        Megfog;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ left_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Elenged;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ right_2,v1000,fine,MegfogoTool\WObj:=wobj0;
        Megfog;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ mid_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Elenged;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ left_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Megfog;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ mid_2,v1000,fine,MegfogoTool\WObj:=wobj0;
        Elenged;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ right_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Megfog;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ left_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Elenged;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ mid_2,v1000,fine,MegfogoTool\WObj:=wobj0;
        Megfog;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ right_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Elenged;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ mid_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Megfog;
        MoveL mid_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ left_2,v1000,fine,MegfogoTool\WObj:=wobj0;
        Elenged;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ right_3,v1000,fine,MegfogoTool\WObj:=wobj0;
        Megfog;
        MoveL right_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        MoveJ left_1,v1000,fine,MegfogoTool\WObj:=wobj0;
        Elenged;
        MoveL left_emel,v1000,fine,MegfogoTool\WObj:=wobj0;
        GoHome;
    ENDPROC

ENDMODULE

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