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MainModule.mod

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+MODULE MainModule
+!
+!  Released under MIT License
+!
+!  David Pollard
+!  Bristol Robotics Laboratory
+!
+!  Original author
+!  Michael Dawson-Haggerty
+!
+!
+
+    !
+    !
+    ! Main process... Calls ServerMain
+	PROC main()
+        ! Set enable signal
+		ChangeExtruderState(1);
+
+        ! Start server
+        ServerMain;
+	ENDPROC
+
+
+    !
+    !
+    ! Resets all signals to low
+    PROC ResetAllSignals()
+        SetDO DO10_1, 0;
+        SetDO DO10_2, 0;
+        SetDO DO10_3, 0;
+        SetDO DO10_4, 0;
+        SetDO DO10_5, 0;
+        SetDO DO10_6, 0;
+        SetDO DO10_7, 0;
+        SetDO DO10_8, 0;
+        SetDO DO10_9, 0;
+        SetDO DO10_10, 0;
+        SetDO DO10_11, 0;
+        SetDO DO10_12, 0;
+        TPWrite "Signals reset";
+    ENDPROC
+
+    !
+    !
+    ! Rehomes robot
+    PROC MoveToZeroPos()
+        VAR jointtarget HomePose;
+        VAR robtarget pTemp;
+        ActUnit STN1;
+        pTemp := CRobT();
+        pTemp.extax.eax_b := 0;
+        pTemp.extax.eax_c := 0;
+        HomePose := [[0,0,0,0,0,0], pTemp.extax];
+        ResetAllSignals;
+        MoveAbsJ HomePose, v200, fine, tool0;
+        DeactUnit STN1;
+        EXIT;
+    ENDPROC
+
+    !
+    !
+    ! Test group output signal
+    PROC CountUp()
+        SetDO DO10_1, 1;
+        SetDO DO10_2, 1;
+        FOR reg1 FROM 0 TO 255 DO
+            TPWrite "val: ", \Num:=reg1;
+            SetGO GO_Signal, reg1;
+            WaitTime 0.25;
+        ENDFOR
+    ENDPROC
+
+    !
+    !
+    ! Test digital output signals
+	PROC TestDO()
+        TPWrite "DO10_1";
+		SetDO DO10_1, 1;
+        WaitTime 2;
+        SetDO DO10_1, 0;
+        WaitTime 2;
+
+        TPWrite "DO10_2";
+		SetDO DO10_2, 1;
+        WaitTime 2;
+        SetDO DO10_2, 0;
+        WaitTime 2;
+
+        TPWrite "DO10_3";
+		!SetDO DO10_3, 1;
+        WaitTime 2;
+       ! SetDO DO10_3, 0;
+        WaitTime 2;
+
+        TPWrite "DO10_4";
+		!SetDO DO10_4, 1;
+        WaitTime 2;
+        !SetDO DO10_4, 0;
+        WaitTime 2;
+
+        TPWrite "DO10_5";
+		SetDO DO10_5, 1;
+        WaitTime 2;
+        SetDO DO10_5, 0;
+        WaitTime 2;
+
+        TPWrite "DO10_6";
+		SetDO DO10_6, 1;
+        WaitTime 2;
+        SetDO DO10_6, 0;
+        WaitTime 2;
+
+        TPWrite "DO10_7";
+		SetDO DO10_7, 1;
+        WaitTime 2;
+        SetDO DO10_7, 0;
+        WaitTime 2;
+
+        TPWrite "DO10_8";
+		SetDO DO10_8, 1;
+        WaitTime 2;
+        SetDO DO10_8, 0;
+        WaitTime 2;
+
+        TPWrite "DO10_9";
+		SetDO DO10_9, 1;
+        WaitTime 2;
+        SetDO DO10_9, 0;
+        WaitTime 2;
+
+        TPWrite "DO10_10";
+		SetDO DO10_10, 1;
+        WaitTime 2;
+        SetDO DO10_10, 0;
+        WaitTime 2;
+
+        TPWrite "DO10_11";
+		SetDO DO10_11, 1;
+        WaitTime 2;
+        SetDO DO10_11, 0;
+        WaitTime 2;
+
+        TPWrite "DO10_12";
+		SetDO DO10_12, 1;
+        WaitTime 2;
+        SetDO DO10_12, 0;
+        WaitTime 10;
+	ENDPROC
+ENDMODULE