>Basic3D, Version=1.1.0.0, Culture=neutral, PublicKeyToken=null ZMicrosoft.Xna.Framework, Version=2.0.0.0, Culture=neutral, PublicKeyToken=6d5c3888ef60e27dBasic3D.InstalacionBinstallationNameitemsroom floorTextupText frontTextbackTextleftText rightText altoPared anchoParedtiletiletech landScaperoomTypevisibversioncamPosiccamTargcamViewcamViewY logicName DescriptionAuthortotalInputNumbertotalOutputNumberCharacteristicsgenListwSystem.Collections.Generic.List`1[[Basic3D.BasicUnitB, Basic3D, Version=1.1.0.0, Culture=neutral, PublicKeyToken=null]] !Microsoft.Xna.Framework.Vector3[]!Microsoft.Xna.Framework.Vector3[] System.Collections.ArrayListPacking Scara Robot default     AHCA1.3.0   Vector3 pos; float load = -21.2f; float download = -5.2f; int step = 0; BoxObject searchPart = null; float timer1=0; bool newPart = true; public void Init() { pos = machine[5].Position; machine[16].SetTexture (@"Metal\metal2.jpg"); } public void Main(GameTime gameTime) { ////////////////// Forklift Operator Management ///////////////////////////// if(!IO.GetOutput(13)) newPart = true; if(IO.GetOutput(13) && newPart) { newPart = false; IOManager.SetOutput(20, true); // create a new box WorkPart } switch(step) { case 0: searchPart = machine[5].WorkPartCollision(); if(searchPart != null) step = 1; break; case 1: IOManager.SetOutput(20, false); float fTimeScale = (float)gameTime.ElapsedGameTime.Milliseconds/100; pos.Z += 0.2f * fTimeScale; if(pos.Z > download) { pos.Z = download; step = 2; } Editor.Move(5, pos, machine[5].body.Orientation); searchPart.body.MoveTo(new Vector3(pos.X, pos.Y + 0.1f, pos.Z),Matrix.Identity); break; case 2: machine[5].body.ExternalData = new Vector3(0, 0, 2.0f); searchPart = machine[5].WorkPartCollision(); if(searchPart == null) { step = 3; } break; case 3: fTimeScale = (float)gameTime.ElapsedGameTime.Milliseconds/100; pos.Z -= 0.2f * fTimeScale; if(pos.Z < load) { machine[5].body.ExternalData = Vector3.Zero; pos.Z = load; step = 0; } Editor.Move(5, pos, machine[5].body.Orientation); break; } } public void Draw(GameTime gameTime) { } public void Finish() { }  R.Izquierdo wSystem.Collections.Generic.List`1[[Basic3D.BasicUnitB, Basic3D, Version=1.1.0.0, Culture=neutral, PublicKeyToken=null]]_items_size_versionBasic3D.BasicUnitB[] -- Microsoft.Xna.Framework.Vector3Microsoft.Xna.Framework.Vector3XYZ ku[N@^A֯@S@ Ah@pA@og5@ϗ@d@ E_@^(V@)2Q@?jM@rDUA%O@ @?.?QA  Microsoft.Xna.Framework.Vector3[=@kA@O^E@n@<@4v/@͊7@@)X@Ш6KqT@KBE@bQ@s=@ЂuAZB@{@S? ?AA ,C)BBp CZCiCexCCkBn4@ lMzF. |mz8QSystem.Collections.ArrayList_items_size_version $@Basic3D.BasicUnitB % & ' ( ) * + , - . / 0 1 2 3 4 5 6 7 8 9 : ; < = > ? @ A B C D E F G H I J K L M N O P Q $ R %Basic3D.BasicUnitBpositionscaleRotYname descriptionid inputList outputListparamsFt paramsStrgenList unionListEelemList textureNametextureEnabled modelNameversionMicrosoft.Xna.Framework.Vector3Microsoft.Xna.Framework.Vector3 System.Collections.Generic.Dictionary`2[[System.Int16, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089],[System.Int16, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089]]System.Collections.Generic.Dictionary`2[[System.Int16, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089],[System.Int16, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089]]System.Collections.Generic.Dictionary`2[[System.Int16, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089],[System.Single, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089]]System.Collections.Generic.Dictionary`2[[System.Int16, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089],[System.String, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089]]System.Collections.ArrayListySystem.Collections.Generic.List`1[[Basic3D.UnionJointEB, Basic3D, Version=1.1.0.0, Culture=neutral, PublicKeyToken=null]]wSystem.Collections.Generic.List`1[[Basic3D.BasicUnitB, Basic3D, Version=1.1.0.0, Culture=neutral, PublicKeyToken=null]]D;dI@>>>U StaticModelV RobotArea W X Y Z [ \ ] _Robots/RobotIsland &%@5>@M@6@ #@ StaticElementOperator Vehicles/forklift +%Y"ۿ3!?VKX>L>z> StaticModelWalkArea Miscellaneous/Walk1 ,%KK׿}>N79@J333?333?333? 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PublicKeyToken=b77a5c561934e089]]System.Collections.Generic.KeyValuePair`2[[System.Int16, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089],[System.Int16, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089]]keyvalueSystem.Collections.Generic.KeyValuePair`2[[System.Int16, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089],[System.Int16, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089]]System.Collections.Generic.KeyValuePair`2[[System.Int16, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089],[System.Single, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089]]/@Basic3D.UnionJointEBBasic3D.BasicUnitBSystem.Collections.Generic.KeyValuePair`2[[System.Int16, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089],[System.Single, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089]]/9@/?/ #<////// / / ?/ ?/?/?/ >Basic3D.UnionJointEBBasic3D.BasicUnitBSystem.Collections.Generic.KeyValuePair`2[[System.Int16, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089],[System.Int16, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089]] System.Collections.Generic.KeyValuePair`2[[System.Int16, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089],[System.Single, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089]]/G?/pA/?/?System.Collections.Generic.KeyValuePair`2[[System.Int16, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089],[System.Single, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089]]/?/?/?////// ?/ / / ?/ ?/?/Basic3D.UnionJointEBBasic3D.BasicUnitBSystem.Collections.Generic.KeyValuePair`2[[System.Int16, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089],[System.Single, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089]]/?/?/?////// ?/ / / ?/ ?/?/Basic3D.UnionJointEBBasic3D.BasicUnitB System.Collections.Generic.KeyValuePair`2[[System.Int16, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089],[System.Single, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089]]/L>/L>/L>/u<//L>/L>// / / ?System.Collections.Generic.KeyValuePair`2[[System.Int16, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089],[System.Single, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089]]/?//Basic3D.UnionJointEBBasic3D.BasicUnitBSystem.Collections.Generic.KeyValuePair`2[[System.Int16, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089],[System.Single, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089]]/?/?/?////// ?/ / / ?/ ?/?/Basic3D.UnionJointEBBasic3D.BasicUnitBSystem.Collections.Generic.KeyValuePair`2[[System.Int16, mscorlib, 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Basic3D.UnionJointEB!Basic3D.BasicUnitB"# System.Collections.Generic.KeyValuePair`2[[System.Int16, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089],[System.Single, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089]]c/L>b/L>a/L>`/u<_/^/L>]/L>\/[/ Z/ Y/ ?%&Basic3D.UnionJointEB'Basic3D.BasicUnitB()System.Collections.Generic.KeyValuePair`2[[System.Int16, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089],[System.Single, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089]]X/?W/?V/?U/T/S/R/Q/P/ ?O/ N/ M/ ?L/ ?K/?J/+,Basic3D.UnionJointEB-Basic3D.BasicUnitB./System.Collections.Generic.KeyValuePair`2[[System.Int16, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089],[System.Single, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089]]I/H/G/12Basic3D.UnionJointEB3Basic3D.BasicUnitB45System.Collections.Generic.KeyValuePair`2[[System.Int16, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089],[System.Single, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089]]F/BE/BD/@C/@B/7System.Collections.Generic.KeyValuePair`2[[System.Int16, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089],[System.String, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089]]ASystem.Collections.Generic.KeyValuePair`2[[System.Int16, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089],[System.String, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089]]keyvalue 89Basic3D.UnionJointEB:Basic3D.BasicUnitB<System.Collections.Generic.KeyValuePair`2[[System.Int16, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089],[System.Single, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089]]?/?>/=/BSystem.Collections.Generic.KeyValuePair`2[[System.Int16, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089],[System.Single, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089]]3/?2/ #=1/ #=0/ #=//./MNBasic3D.UnionJointEBOBasic3D.BasicUnitBPQSystem.Collections.Generic.KeyValuePair`2[[System.Int16, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089],[System.Int16, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089]]-SSystem.Collections.Generic.KeyValuePair`2[[System.Int16, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089],[System.Single, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089]],/\>+/?*/ #=)/ #=(/ #='/&/UVBasic3D.UnionJointEBWBasic3D.BasicUnitBXYSystem.Collections.Generic.KeyValuePair`2[[System.Int16, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089],[System.Int16, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089]]%[System.Collections.Generic.KeyValuePair`2[[System.Int16, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089],[System.Single, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089]]$/\>#/?"/ #=!/ #= / #=//]^Basic3D.UnionJointEB_Basic3D.BasicUnitB`aSystem.Collections.Generic.KeyValuePair`2[[System.Int16, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089],[System.Int16, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089]]cSystem.Collections.Generic.KeyValuePair`2[[System.Int16, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089],[System.Single, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089]]/\>/?/ #=/ #=/ #=//efBasic3D.UnionJointEBgBasic3D.BasicUnitBhiSystem.Collections.Generic.KeyValuePair`2[[System.Int16, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089],[System.Int16, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089]]klBasic3D.UnionJointEBmBasic3D.BasicUnitBnoSystem.Collections.Generic.KeyValuePair`2[[System.Int16, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089],[System.Single, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089]]/q= @/?/\A//// / / ? /  /  / ?/ ?/?/qrBasic3D.UnionJointEBsBasic3D.BasicUnitBuSystem.Collections.Generic.KeyValuePair`2[[System.Int16, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089],[System.Int16, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089]]wSystem.Collections.Generic.KeyValuePair`2[[System.Int16, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089],[System.Single, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089]]//y  |}System.Collections.Generic.KeyValuePair`2[[System.Int16, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089],[System.Int16, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089]]   Basic3D.UnionJointEBBasic3D.BasicUnitBSystem.Collections.Generic.KeyValuePair`2[[System.Int16, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089],[System.Int16, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089]] System.Collections.Generic.KeyValuePair`2[[System.Int16, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089],[System.Single, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089]]/ A/  Basic3D.UnionJointEBBasic3D.BasicUnitBSystem.Collections.Generic.KeyValuePair`2[[System.Int16, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089],[System.Int16, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089]] System.Collections.Generic.KeyValuePair`2[[System.Int16, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089],[System.Single, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089]]/ A/  Basic3D.UnionJointEBBasic3D.BasicUnitBSystem.Collections.Generic.KeyValuePair`2[[System.Int16, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089],[System.Int16, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089]] System.Collections.Generic.KeyValuePair`2[[System.Int16, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089],[System.Single, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089]]/ A/  Basic3D.UnionJointEBBasic3D.BasicUnitBSystem.Collections.Generic.KeyValuePair`2[[System.Int16, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089],[System.Int16, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089]] System.Collections.Generic.KeyValuePair`2[[System.Int16, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089],[System.Single, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089]]/ A/  Basic3D.UnionJointEBBasic3D.BasicUnitBSystem.Collections.Generic.KeyValuePair`2[[System.Int16, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089],[System.Int16, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089]]System.Collections.Generic.KeyValuePair`2[[System.Int16, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089],[System.Single, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089]]/̌?Basic3D.UnionJointEBBasic3D.BasicUnitBSystem.Collections.Generic.KeyValuePair`2[[System.Int16, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089],[System.Int16, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089]] System.Collections.Generic.KeyValuePair`2[[System.Int16, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089],[System.Single, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089]]/?System.Collections.Generic.KeyValuePair`2[[System.Int16, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089],[System.Single, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089]]//?/?/System.Collections.Generic.KeyValuePair`2[[System.Int16, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089],[System.String, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089]]Apublic void Init() { } public void Main(GameTime gameTime) { } public void Draw(GameTime gameTime) { } public void Finish() { }    Basic3D.UnionJointEB  ! " # $ % & ' ( ) * + Basic3D.BasicUnitB , - . / 0 1 2 System.Collections.Generic.KeyValuePair`2[[System.Int16, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089],[System.Single, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089]]///?/System.Collections.Generic.KeyValuePair`2[[System.Int16, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089],[System.String, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089]]A8float rot; float speed; bool start; public void Init() { rot = 0; start = false; speed = IO.Parameter("Speed"); } public void Main(GameTime gameTime) { } public void Draw(GameTime gameTime) { float fTimeScale = (float)gameTime.ElapsedGameTime.Milliseconds/10; if(IO.GetOutput("Advance")) { box[17].body.ExternalData = box[17].body.Orientation.Backward * speed; rot += speed * fTimeScale; if (rot >360) rot = 0; for(int f=1;f<17;f++) Editor.RotateX(f,rot); if(!start) { start = true; box[17].PlaySound("ConveyON"); } } else if(IO.GetOutput("Reverse")) { box[17].body.ExternalData = box[17].body.Orientation.Forward * speed; rot -= speed * fTimeScale; if (rot <0) rot = 360; for(int f=1;f<17;f++) Editor.RotateX(f,rot); if(!start) { start = true; box[17].PlaySound("ConveyON"); } } else { box[17].body.ExternalData = Vector3.Zero; if(start) { start = false; box[17].StopSound(); } } } public void Finish() { } 9 : ; <Basic3D.UnionJointEB Basic3D.BasicUnitB = > ? @ A B C D E F G H I J K L M N O P System.Collections.Generic.KeyValuePair`2[[System.Int16, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089],[System.Single, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089]]///?/System.Collections.Generic.KeyValuePair`2[[System.Int16, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089],[System.String, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089]]A 8 W X Y ZSystem.Collections.Generic.KeyValuePair`2[[System.Int16, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089],[System.Single, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089]]///?/System.Collections.Generic.KeyValuePair`2[[System.Int16, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089],[System.String, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089]]A 8 a b c dSystem.Collections.Generic.KeyValuePair`2[[System.Int16, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089],[System.Single, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089]]///?/System.Collections.Generic.KeyValuePair`2[[System.Int16, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089],[System.String, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089]]Aj3float d1 = 0; float d2 = 0; float d3 = 0; float d4 = 0; float g1 = 0; float g2 = 0; float g3 = 0; float g4 = 0; Matrix matRotY1 = Matrix.Identity; Matrix matRotY2 = Matrix.Identity; Matrix matRotY4 = Matrix.Identity; BoxObject searchPart; Vector3 pos; float speed; bool close = false; float distance; float detect; Vector3 scal; public void Init() { pos = box[0].body.Position; matRotY1 = Matrix.Identity; g3 = 0; speed = IO.Parameter("Speed"); detect = IO.Parameter("DetectDistance"); for(int f=0;f<3;f++) { box[f].body.DisableBody(); } scal = Editor.ComponentScale(); } public void Main(GameTime gameTime) { /* For Test porpouses if (input.KeyboardState.IsKeyDown(Microsoft.Xna.Framework.Input.Keys.Z)) d1 +=1.0f; else if (input.KeyboardState.IsKeyDown(Microsoft.Xna.Framework.Input.Keys.X)) d1 -=1.0f; if (input.KeyboardState.IsKeyDown(Microsoft.Xna.Framework.Input.Keys.C)) d2 +=1.0f; else if (input.KeyboardState.IsKeyDown(Microsoft.Xna.Framework.Input.Keys.V)) d2 -=1.0f; if (input.KeyboardState.IsKeyDown(Microsoft.Xna.Framework.Input.Keys.B)) d3 +=0.01f; else if (input.KeyboardState.IsKeyDown(Microsoft.Xna.Framework.Input.Keys.N)) d3 -=0.01f; if (input.KeyboardState.IsKeyDown(Microsoft.Xna.Framework.Input.Keys.K)) d4 +=1.0f; else if (input.KeyboardState.IsKeyDown(Microsoft.Xna.Framework.Input.Keys.L)) d4 -= 1.0f; Editor.ShowText(d1.ToString() + " : " + d2.ToString() + " : " + d3.ToString() + " : " + d4.ToString()); */ float fTimeScale = (float)gameTime.ElapsedGameTime.Milliseconds/10; d1 = IO.GetDataStack("Arm_1"); if(g1 < d1) { g1 += speed * fTimeScale; if(g1 >= d1) g1 = d1; if(g1 > 180) g1= 180; IO.SetDataStack("Curr_Arm_1",g1); matRotY1 = Matrix.CreateRotationY(MathHelper.ToRadians(g1)); } else if(g1 > d1) { g1 -= speed * fTimeScale; if(g1 <= d1) g1 = d1; if(g1 < -180) g1= -180; IO.SetDataStack("Curr_Arm_1",g1); matRotY1 = Matrix.CreateRotationY(MathHelper.ToRadians(g1)); } if(g1 != d1 && g1 > -180 && g1 < 180) box[1].PlaySound("robot2"); else box[1].StopSound(); d2 = IO.GetDataStack("Arm_2"); if(g2 < d2) { g2 += speed * fTimeScale; if(g2 >= d2) g2 = d2; if(g2 > 180) g2= 180; IO.SetDataStack("Curr_Arm_2",g2); matRotY2 = Matrix.CreateRotationY(MathHelper.ToRadians(g2)); } else if(g2 > d2) { g2 -= speed * fTimeScale; if(g2 <= d2) g2 = d2; if(g2 < -180) g2= -180; IO.SetDataStack("Curr_Arm_2",g2); matRotY2 = Matrix.CreateRotationY(MathHelper.ToRadians(g2)); } if(g2 != d2 && g2 > -180 && g2 < 180) box[2].PlaySound("robot2"); else box[2].StopSound(); d3 = IO.GetDataStack("Arm_3"); if(g3 < d3) { g3 += speed * fTimeScale/50; if(g3 >= d3) g3 = d3; if(g3 > 0.65f) g3= 0.65f; IO.SetDataStack("Curr_Arm_3",g3); } else if(g3 > d3) { g3 -= speed * fTimeScale/50; if(g3 <= d3) g3 = d3; if(g3 < -0.5f) g3= -0.5f; IO.SetDataStack("Curr_Arm_3",g3); } if(g3 != d3 && g3 > -0.5 && g3 < 0.5) box[3].PlaySound("robot2"); else box[3].StopSound(); d4 = IO.GetDataStack("Arm_4"); if(g4 < d4) { g4 += speed * fTimeScale; if(g4 >= d4) g4 = d4; if(g4 > 180) g4= 180; IO.SetDataStack("Curr_Arm_4",g4); matRotY4 = Matrix.CreateRotationY(MathHelper.ToRadians(g4)); } else if(g4 > d4) { g4 -= speed * fTimeScale; if(g4 <= d4) g4 = d4; if(g4 < -180) g4= -180f; IO.SetDataStack("Curr_Arm_4",g4); matRotY4 = Matrix.CreateRotationY(MathHelper.ToRadians(g4)); } if(g4 != d4 && g4 > -180 && g4 < 180) box[4].PlaySound("robot2"); else box[4].StopSound(); //Move boxes using I.S.R.O.T sequence // Identity, Scale, Rotation, Orbit, Translation //Arm1 Movement Matrix worldMatrix = Matrix.Identity * Matrix.CreateScale(box[1].Scale) * Matrix.CreateTranslation(0, 1.05f * scal.Y, 0.55f * scal.Z) * matRotY1 * Matrix.CreateTranslation(0, 0, 0.15f * scal.Z) * Matrix.CreateTranslation(pos); box[1].body.Position = worldMatrix.Translation; box[1].body.Orientation = matRotY1; //Arm2 Movement worldMatrix = Matrix.Identity * Matrix.CreateScale(box[2].Scale) * Matrix.CreateTranslation(0, 0, 0.55f * scal.Z) * matRotY2 * Matrix.CreateTranslation(0, 0.77f * scal.Y, 1.15f * scal.Z) * matRotY1 * Matrix.CreateTranslation(0, 0, 0.15f * scal.Z) * Matrix.CreateTranslation(pos); box[2].body.Position = worldMatrix.Translation; box[2].body.Orientation = matRotY2 * matRotY1; //Arm3 Movement worldMatrix = Matrix.Identity * Matrix.CreateScale(box[3].Scale) * Matrix.CreateTranslation(0, g3 * scal.Y, 1.1f * scal.Z) * matRotY2 * Matrix.CreateTranslation(0, 0.77f * scal.Y, 1.13f * scal.Z) * matRotY1 * Matrix.CreateTranslation(0, 0, 0.15f * scal.Z) * Matrix.CreateTranslation(pos); box[3].body.Position = worldMatrix.Translation; box[3].body.Orientation = matRotY2 * matRotY1; //Grip Movement worldMatrix = Matrix.Identity * Matrix.CreateScale(box[4].Scale) * Matrix.CreateTranslation(0, (g3 - 1.0f) * scal.Y, 1.1f * scal.Z) * matRotY2 * Matrix.CreateTranslation(0, 0.77f * scal.Y, 1.13f * scal.Z) * matRotY1 * Matrix.CreateTranslation(0, 0, 0.15f * scal.Z) * Matrix.CreateTranslation(pos); box[4].body.Position = worldMatrix.Translation; box[4].body.Orientation = matRotY4 * matRotY2 * matRotY1; if(IO.GetOutput("CloseGrip")) { if(close) { close = false; box[4].SetModel("Robots\\GripClosed"); if(searchPart != null) distance = Vector3.Distance(box[4].body.Position, searchPart.body.Position); } if(searchPart != null) TakePart(); } else { if(!close) { close = true; box[4].SetModel("Robots\\GripOpen"); if(searchPart != null) searchPart.body.EnableBody(); } searchPart = box[4].WorkPartDistRayCol(box[4].body.Position, box[4].body.Orientation.Down, detect); bool res = (searchPart != null) ? true:false; IO.SetInput("Part_Detected",res); } } public void Draw(GameTime gameTime) { } public void Finish() { } private void TakePart() { if (searchPart != null) { Matrix worldMatrix = Matrix.Identity * Matrix.CreateScale(box[4].Scale) * Matrix.CreateTranslation(0, (g3 - 1.0f - distance) * scal.Y, 1.1f * scal.Z) * matRotY2 * Matrix.CreateTranslation(0, 0.77f * scal.Y, 1.15f * scal.Z) * matRotY1 * Matrix.CreateTranslation(0, 0, 0.15f * scal.Z) * Matrix.CreateTranslation(pos); searchPart.body.Position = worldMatrix .Translation; searchPart.body.Orientation = box[4].body.Orientation; searchPart.body.DisableBody(); searchPart.body.ClearForces(); } }Al4 degreess Scara Robot type. This Robot has a grip mounted on the end to catch WorkParts. Uses 8 PLC Data Stack elements, the first 4 are the axis possitions destination, where the PLC manage the movement. The next 4 are the current real possitions to check where the robot is. The axis speed are configurable form Parameters list. Also is possible ro configure the detection distance to check if a workpart is ready to be catched by the grip. The Robot Arm uses a PLC input that will be active when a workpart is detected to be taked by the grip. And one PLC Output used to close the grip. m n o pBasic3D.UnionJointEBBasic3D.BasicUnitB q r s t u Basic3D.PartListBpiezavBox1 N    \ j{System.Collections.Generic.List`1[[Basic3D.IOUserCreatedB, Basic3D, Version=1.1.0.0, Culture=neutral, PublicKeyToken=null]]_items_size_versionBasic3D.IOUserCreatedB[] { { {ySystem.Collections.Generic.List`1[[Basic3D.ParamClass2B, Basic3D, Version=1.1.0.0, Culture=neutral, PublicKeyToken=null]]_items_size_versionBasic3D.ParamClass2B[] | Basic3D.UnionJointEBbox1box2attachToaxisposition halfWidthfwdAnglebckAngle sideWaySlackdampingenabledUnionJoinB+attachToUnionJoinB+axisUnionJoinB+positionUnionJoinB+halfWidthUnionJoinB+fwdAngleUnionJoinB+bckAngleUnionJoinB+sideWaySlackUnionJoinB+dampingUnionJoinB+enabledMicrosoft.Xna.Framework.Vector3Microsoft.Xna.Framework.Vector3 Microsoft.Xna.Framework.Vector3Microsoft.Xna.Framework.Vector3  ?> ?>!  ?~̾ }?|̾"  {?z> y?x>#  w?v̾ u?t̾$  s?r> q?p>%  o?n̾ m?l̾&  k?j> i?h>'  g?f̾ e?d̾(  c?b> a?`>)  _?^̾ ]?\̾*  [?Z> Y?X>+  W?V̾ U?T̾,%S<Rff?L=ff?BoxUnitBase       Metal/metal12.jpgBox -%Ez>DL=?ff? 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