beremiz: tests/motion/plc.xml@b9ec99fab9fc (annotated)

293 b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	1	<?xml version="1.0" encoding="UTF-8"?>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	2	<project xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	3	xmlns="http://www.plcopen.org/xml/tc6.xsd"
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	4	xmlns:xhtml="http://www.w3.org/1999/xhtml"
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	5	xsi:schemaLocation="http://www.plcopen.org/xml/tc6.xsd">
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	6	<fileHeader companyName="Lolitech"
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	7	productName="GenTraj"
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	8	productVersion="1.0"
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	9	creationDateTime="2009-01-13T12:15:00"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	10	<contentHeader name="GenTraj"
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	11	modificationDateTime="2009-01-14T20:10:13">
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	12	<coordinateInfo>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	13	<fbd>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	14	<scaling x="0" y="0"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	15	</fbd>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	16	<ld>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	17	<scaling x="0" y="0"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	18	</ld>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	19	<sfc>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	20	<scaling x="0" y="0"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	21	</sfc>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	22	</coordinateInfo>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	23	</contentHeader>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	24	<types>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	25	<dataTypes/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	26	<pous>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	27	<pou name="GenTraj" pouType="functionBlock">
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	28	<interface>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	29	<inputVars>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	30	<variable name="Period">
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	31	<type>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	32	<REAL/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	33	</type>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	34	</variable>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	35	<variable name="Gmvt">
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	36	<type>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	37	<REAL/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	38	</type>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	39	</variable>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	40	<variable name="Vmvt">
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	41	<type>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	42	<REAL/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	43	</type>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	44	</variable>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	45	<variable name="P0">
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	46	<type>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	47	<REAL/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	48	</type>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	49	</variable>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	50	<variable name="V0">
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	51	<type>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	52	<REAL/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	53	</type>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	54	</variable>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	55	<variable name="Pf">
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	56	<type>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	57	<REAL/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	58	</type>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	59	</variable>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	60	<variable name="Vf">
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	61	<type>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	62	<REAL/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	63	</type>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	64	</variable>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	65	</inputVars>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	66	<outputVars>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	67	<variable name="Pn">
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	68	<type>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	69	<REAL/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	70	</type>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	71	</variable>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	72	<variable name="Vn">
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	73	<type>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	74	<REAL/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	75	</type>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	76	</variable>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	77	<variable name="Gn">
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	78	<type>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	79	<REAL/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	80	</type>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	81	</variable>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	82	</outputVars>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	83	<localVars>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	84	<variable name="P">
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	85	<type>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	86	<REAL/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	87	</type>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	88	</variable>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	89	<variable name="F">
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	90	<type>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	91	<REAL/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	92	</type>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	93	</variable>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	94	<variable name="Ps2">
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	95	<type>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	96	<REAL/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	97	</type>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	98	</variable>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	99	<variable name="Fs3">
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	100	<type>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	101	<REAL/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	102	</type>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	103	</variable>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	104	<variable name="delta">
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	105	<type>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	106	<REAL/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	107	</type>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	108	</variable>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	109	<variable name="Va">
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	110	<type>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	111	<REAL/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	112	</type>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	113	</variable>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	114	<variable name="Vb">
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	115	<type>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	116	<REAL/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	117	</type>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	118	</variable>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	119	<variable name="Vaut">
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	120	<type>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	121	<REAL/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	122	</type>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	123	</variable>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	124	</localVars>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	125	</interface>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	126	<body>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	127	<ST>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	128	<![CDATA[IF Period <> P THEN
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	129	P := Period;
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	130	F := 1.0 / P;
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	131	Ps2 := P / 2.0;
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	132	Fs3 := F / 3.0;
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	133	END_IF;
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	134
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	135	IF Pf <> Pn THEN
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	136	delta := Pf - P0 - V0 * P;
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	137
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	138	Va := SQRT(ABS(2.0 * Gmvt * delta) + Vf * Vf);
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	139	Vb := Vf + delta * Fs3;
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	140
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	141	IF Va > ABS(Vb) THEN
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	142	Vaut := MIN(ABS(Vb), Vmvt);
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	143	IF Vb < 0.0 THEN
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	144	Vaut := -Vaut;
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	145	END_IF;
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	146	ELSE
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	147	Vaut := MIN(Va, Vmvt);
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	148	IF Pf < P0 THEN
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	149	Vaut := -Vaut;
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	150	END_IF;
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	151	END_IF;
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	152
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	153	Gn := MIN(ABS((Vaut - V0) * F), Gmvt);
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	154	IF Vaut < V0 THEN
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	155	Gn := -Gn;
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	156	END_IF;
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	157
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	158	END_IF;
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	159
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	160	Vn := V0 + Gn * P;
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	161
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	162	Pn := P0 + (Vn + V0) * Ps2;
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	163
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	164	IF (P0 >= Pf) <> (Pn >= Pf) AND Vf <> 0.0 THEN
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	165	Pn := Pf;
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	166	END_IF;
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	167
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	168	]]>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	169	</ST>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	170	</body>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	171	</pou>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	172	<pou name="TestMotion" pouType="program">
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	173	<interface>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	174	<localVars>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	175	<variable name="GO">
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	176	<type>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	177	<BOOL/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	178	</type>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	179	<initialValue>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	180	<simpleValue value="TRUE"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	181	</initialValue>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	182	</variable>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	183	<variable name="TRIG">
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	184	<type>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	185	<BOOL/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	186	</type>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	187	</variable>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	188	<variable name="GenTraj1">
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	189	<type>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	190	<derived name="GenTraj"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	191	</type>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	192	</variable>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	193	<variable name="py_eval">
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	194	<type>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	195	<derived name="python_eval"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	196	</type>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	197	</variable>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	198	<variable name="RS1">
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	199	<type>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	200	<derived name="RS"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	201	</type>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	202	</variable>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	203	</localVars>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	204	</interface>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	205	<body>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	206	<FBD>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	207	<inVariable localId="2" height="25" width="63">
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	208	<position x="203" y="208"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	209	<connectionPointOut>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	210	<relPosition x="63" y="12"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	211	</connectionPointOut>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	212	<expression>GO</expression>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	213	</inVariable>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	214	<inVariable localId="4" height="25" width="100">
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	215	<position x="295" y="312"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	216	<connectionPointOut>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	217	<relPosition x="100" y="12"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	218	</connectionPointOut>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	219	<expression>REAL#0.1</expression>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	220	</inVariable>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	221	<inVariable localId="6" height="25" width="100">
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	222	<position x="294" y="345"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	223	<connectionPointOut>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	224	<relPosition x="100" y="12"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	225	</connectionPointOut>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	226	<expression>REAL#1.0</expression>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	227	</inVariable>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	228	<inVariable localId="7" height="25" width="99">
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	229	<position x="294" y="378"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	230	<connectionPointOut>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	231	<relPosition x="99" y="12"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	232	</connectionPointOut>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	233	<expression>REAL#1.0</expression>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	234	</inVariable>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	235	<inVariable localId="8" height="25" width="100">
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	236	<position x="292" y="477"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	237	<connectionPointOut>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	238	<relPosition x="100" y="12"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	239	</connectionPointOut>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	240	<expression>REAL#10.0</expression>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	241	</inVariable>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	242	<block localId="9" width="178" height="290" typeName="GenTraj" instanceName="GenTraj1">
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	243	<position x="488" y="255"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	244	<inputVariables>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	245	<variable formalParameter="EN">
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	246	<connectionPointIn>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	247	<relPosition x="0" y="36"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	248	<connection refLocalId="13" formalParameter="Q1">
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	249	<position x="488" y="291"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	250	<position x="442" y="291"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	251	<position x="442" y="259"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	252	<position x="396" y="259"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	253	</connection>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	254	</connectionPointIn>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	255	</variable>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	256	<variable formalParameter="Period">
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	257	<connectionPointIn>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	258	<relPosition x="0" y="69"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	259	<connection refLocalId="4">
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	260	<position x="488" y="324"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	261	<position x="395" y="324"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	262	</connection>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	263	</connectionPointIn>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	264	</variable>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	265	<variable formalParameter="Gmvt">
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	266	<connectionPointIn>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	267	<relPosition x="0" y="102"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	268	<connection refLocalId="6">
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	269	<position x="488" y="357"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	270	<position x="394" y="357"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	271	</connection>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	272	</connectionPointIn>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	273	</variable>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	274	<variable formalParameter="Vmvt">
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	275	<connectionPointIn>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	276	<relPosition x="0" y="135"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	277	<connection refLocalId="7">
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	278	<position x="488" y="390"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	279	<position x="393" y="390"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	280	</connection>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	281	</connectionPointIn>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	282	</variable>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	283	<variable formalParameter="P0">
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	284	<connectionPointIn>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	285	<relPosition x="0" y="168"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	286	<connection refLocalId="9" formalParameter="Pn">
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	287	<position x="488" y="423"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	288	<position x="430" y="423"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	289	<position x="430" y="607"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	290	<position x="724" y="607"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	291	<position x="724" y="324"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	292	<position x="666" y="324"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	293	</connection>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	294	</connectionPointIn>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	295	</variable>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	296	<variable formalParameter="V0">
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	297	<connectionPointIn>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	298	<relPosition x="0" y="201"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	299	<connection refLocalId="9" formalParameter="Vn">
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	300	<position x="488" y="456"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	301	<position x="453" y="456"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	302	<position x="453" y="577"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	303	<position x="696" y="577"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	304	<position x="696" y="357"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	305	<position x="666" y="357"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	306	</connection>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	307	</connectionPointIn>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	308	</variable>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	309	<variable formalParameter="Pf">
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	310	<connectionPointIn>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	311	<relPosition x="0" y="234"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	312	<connection refLocalId="8">
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	313	<position x="488" y="489"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	314	<position x="392" y="489"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	315	</connection>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	316	</connectionPointIn>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	317	</variable>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	318	<variable formalParameter="Vf">
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	319	<connectionPointIn>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	320	<relPosition x="0" y="267"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	321	<connection refLocalId="10">
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	322	<position x="488" y="522"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	323	<position x="392" y="522"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	324	</connection>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	325	</connectionPointIn>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	326	</variable>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	327	</inputVariables>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	328	<inOutVariables/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	329	<outputVariables>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	330	<variable formalParameter="ENO">
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	331	<connectionPointOut>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	332	<relPosition x="178" y="36"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	333	</connectionPointOut>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	334	</variable>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	335	<variable formalParameter="Pn">
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	336	<connectionPointOut>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	337	<relPosition x="178" y="69"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	338	</connectionPointOut>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	339	</variable>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	340	<variable formalParameter="Vn">
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	341	<connectionPointOut>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	342	<relPosition x="178" y="102"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	343	</connectionPointOut>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	344	</variable>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	345	<variable formalParameter="Gn">
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	346	<connectionPointOut>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	347	<relPosition x="178" y="135"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	348	</connectionPointOut>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	349	</variable>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	350	</outputVariables>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	351	</block>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	352	<inVariable localId="10" height="25" width="99">
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	353	<position x="293" y="510"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	354	<connectionPointOut>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	355	<relPosition x="99" y="12"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	356	</connectionPointOut>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	357	<expression>REAL#0.0</expression>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	358	</inVariable>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	359	<block localId="11" width="75" height="70" typeName="EQ">
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	360	<position x="197" y="247"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	361	<inputVariables>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	362	<variable formalParameter="IN1">
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	363	<connectionPointIn>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	364	<relPosition x="0" y="32"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	365	<connection refLocalId="9" formalParameter="Pn">
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	366	<position x="197" y="279"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	367	<position x="145" y="279"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	368	<position x="145" y="629"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	369	<position x="724" y="629"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	370	<position x="724" y="324"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	371	<position x="666" y="324"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	372	</connection>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	373	</connectionPointIn>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	374	</variable>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	375	<variable formalParameter="IN2">
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	376	<connectionPointIn>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	377	<relPosition x="0" y="57"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	378	<connection refLocalId="8">
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	379	<position x="197" y="304"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	380	<position x="176" y="304"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	381	<position x="176" y="433"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	382	<position x="409" y="433"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	383	<position x="409" y="489"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	384	<position x="392" y="489"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	385	</connection>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	386	</connectionPointIn>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	387	</variable>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	388	</inputVariables>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	389	<inOutVariables/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	390	<outputVariables>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	391	<variable formalParameter="OUT">
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	392	<connectionPointOut>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	393	<relPosition x="75" y="32"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	394	</connectionPointOut>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	395	</variable>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	396	</outputVariables>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	397	</block>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	398	<block localId="12" width="120" height="87" typeName="python_eval" instanceName="py_eval">
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	399	<position x="318" y="73"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	400	<inputVariables>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	401	<variable formalParameter="TRIG">
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	402	<connectionPointIn>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	403	<relPosition x="0" y="36"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	404	<connection refLocalId="15" formalParameter="OUT">
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	405	<position x="318" y="109"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	406	<position x="225" y="109"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	407	</connection>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	408	</connectionPointIn>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	409	</variable>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	410	<variable formalParameter="CODE">
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	411	<connectionPointIn>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	412	<relPosition x="0" y="69"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	413	<connection refLocalId="14">
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	414	<position x="318" y="142"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	415	<position x="280" y="142"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	416	</connection>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	417	</connectionPointIn>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	418	</variable>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	419	</inputVariables>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	420	<inOutVariables/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	421	<outputVariables>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	422	<variable formalParameter="ACK">
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	423	<connectionPointOut>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	424	<relPosition x="120" y="36"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	425	</connectionPointOut>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	426	</variable>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	427	<variable formalParameter="RESULT">
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	428	<connectionPointOut>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	429	<relPosition x="120" y="69"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	430	</connectionPointOut>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	431	</variable>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	432	</outputVariables>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	433	</block>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	434	<block localId="13" width="55" height="60" typeName="RS" instanceName="RS1">
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	435	<position x="341" y="229"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	436	<inputVariables>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	437	<variable formalParameter="S">
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	438	<connectionPointIn>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	439	<relPosition x="0" y="30"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	440	<connection refLocalId="2">
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	441	<position x="341" y="259"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	442	<position x="303" y="259"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	443	<position x="303" y="220"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	444	<position x="266" y="220"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	445	</connection>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	446	</connectionPointIn>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	447	</variable>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	448	<variable formalParameter="R1">
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	449	<connectionPointIn>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	450	<relPosition x="0" y="50"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	451	<connection refLocalId="11" formalParameter="OUT">
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	452	<position x="341" y="279"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	453	<position x="272" y="279"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	454	</connection>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	455	</connectionPointIn>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	456	</variable>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	457	</inputVariables>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	458	<inOutVariables/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	459	<outputVariables>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	460	<variable formalParameter="Q1">
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	461	<connectionPointOut>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	462	<relPosition x="55" y="30"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	463	</connectionPointOut>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	464	</variable>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	465	</outputVariables>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	466	</block>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	467	<inVariable localId="14" height="25" width="50">
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	468	<position x="230" y="130"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	469	<connectionPointOut>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	470	<relPosition x="50" y="12"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	471	</connectionPointOut>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	472	<expression>'GO'</expression>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	473	</inVariable>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	474	<block localId="15" width="65" height="40" typeName="NOT">
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	475	<position x="160" y="79"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	476	<inputVariables>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	477	<variable formalParameter="IN">
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	478	<connectionPointIn>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	479	<relPosition x="0" y="30"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	480	<connection refLocalId="16">
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	481	<position x="160" y="109"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	482	<position x="118" y="109"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	483	</connection>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	484	</connectionPointIn>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	485	</variable>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	486	</inputVariables>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	487	<inOutVariables/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	488	<outputVariables>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	489	<variable formalParameter="OUT">
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	490	<connectionPointOut>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	491	<relPosition x="65" y="30"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	492	</connectionPointOut>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	493	</variable>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	494	</outputVariables>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	495	</block>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	496	<inOutVariable localId="16" height="25" width="50">
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	497	<position x="68" y="97"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	498	<connectionPointIn>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	499	<relPosition x="0" y="12"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	500	<connection refLocalId="15" formalParameter="OUT">
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	501	<position x="68" y="109"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	502	<position x="42" y="109"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	503	<position x="42" y="50"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	504	<position x="262" y="50"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	505	<position x="262" y="109"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	506	<position x="225" y="109"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	507	</connection>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	508	</connectionPointIn>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	509	<connectionPointOut>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	510	<relPosition x="50" y="12"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	511	</connectionPointOut>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	512	<expression>TRIG</expression>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	513	</inOutVariable>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	514	<block localId="17" width="140" height="40" typeName="STRING_TO_INT">
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	515	<position x="486" y="112"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	516	<inputVariables>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	517	<variable formalParameter="IN">
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	518	<connectionPointIn>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	519	<relPosition x="0" y="30"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	520	<connection refLocalId="12" formalParameter="RESULT">
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	521	<position x="486" y="142"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	522	<position x="438" y="142"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	523	</connection>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	524	</connectionPointIn>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	525	</variable>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	526	</inputVariables>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	527	<inOutVariables/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	528	<outputVariables>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	529	<variable formalParameter="OUT">
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	530	<connectionPointOut>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	531	<relPosition x="140" y="30"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	532	</connectionPointOut>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	533	</variable>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	534	</outputVariables>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	535	</block>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	536	<block localId="18" width="120" height="40" typeName="INT_TO_BOOL">
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	537	<position x="671" y="112"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	538	<inputVariables>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	539	<variable formalParameter="IN">
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	540	<connectionPointIn>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	541	<relPosition x="0" y="30"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	542	<connection refLocalId="17" formalParameter="OUT">
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	543	<position x="671" y="142"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	544	<position x="626" y="142"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	545	</connection>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	546	</connectionPointIn>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	547	</variable>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	548	</inputVariables>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	549	<inOutVariables/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	550	<outputVariables>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	551	<variable formalParameter="OUT">
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	552	<connectionPointOut>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	553	<relPosition x="120" y="30"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	554	</connectionPointOut>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	555	</variable>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	556	</outputVariables>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	557	</block>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	558	<outVariable localId="19" height="25" width="63">
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	559	<position x="826" y="130"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	560	<connectionPointIn>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	561	<relPosition x="0" y="12"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	562	<connection refLocalId="18" formalParameter="OUT">
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	563	<position x="826" y="142"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	564	<position x="791" y="142"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	565	</connection>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	566	</connectionPointIn>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	567	<expression>GO</expression>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	568	</outVariable>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	569	</FBD>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	570	</body>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	571	</pou>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	572	</pous>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	573	</types>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	574	<instances>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	575	<configurations>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	576	<configuration name="config">
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	577	<resource name="ress">
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	578	<task name="MAIN_TASK" interval="00:00:00.100000" priority="0">
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	579	<pouInstance name="MAIN_INSTANCE" type="TestMotion"/>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	580	</task>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	581	</resource>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	582	</configuration>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	583	</configurations>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	584	</instances>
b9ec99fab9fc Adding example of path generator program lbessard parents: diff changeset	585	</project>

author	lbessard
	Wed, 14 Jan 2009 19:50:09 +0100
changeset 293	b9ec99fab9fc
permissions	-rw-r--r--