KAREL Programming Speed Control скачать в хорошем качестве

KAREL Programming Speed Control

In this video, I am going to show you how to control the general speed override using Condition Handler statements. Below, there are the three versions of the KAREL program. In Speed_Ctrl_V2 replace the question mark with the proper greater than or less than signs. PROGRAM Speed_Ctrl_V1 %COMMENT = 'Speed Ctrl V1.0' %NOLOCKGROUP ROUTINE main FROM main BEGIN CONDITION[1]: WHEN NOT DIN[1] AND NOT DIN[2] DO $MCR.$GENOVERRIDE = 100 ENABLE CONDITION[2] ENABLE CONDITION[3] ENABLE CONDITION[4] ENDCONDITION CONDITION[2]: WHEN NOT DIN[1] AND DIN[2] DO $MCR.$GENOVERRIDE = 50 ENABLE CONDITION[1] ENABLE CONDITION[3] ENABLE CONDITION[4] ENDCONDITION CONDITION[3]: WHEN DIN[1] AND NOT DIN[2] DO $MCR.$GENOVERRIDE = 10 ENABLE CONDITION[1] ENABLE CONDITION[2] ENABLE CONDITION[4] ENDCONDITION CONDITION[4]: WHEN DIN[1] AND DIN[2] DO $MCR.$GENOVERRIDE = 1 ENABLE CONDITION[1] ENABLE CONDITION[2] ENABLE CONDITION[3] ENDCONDITION ENABLE CONDITION[1] ENABLE CONDITION[2] ENABLE CONDITION[3] ENABLE CONDITION[4] REPEAT main UNTIL DIN[3] END Speed_Ctrl_V1 PROGRAM Speed_Ctrl_V2 %COMMENT = 'Speed Ctrl V2.0' %NOLOCKGROUP %INCLUDE KLEVKEYS ROUTINE main FROM main ROUTINE Speed_Up BEGIN IF (($MCR.$GENOVERRIDE ?= 5) AND ($MCR.$GENOVERRIDE ? 100))THEN $MCR.$GENOVERRIDE = $MCR.$GENOVERRIDE + 5 ELSE IF $MCR.$GENOVERRIDE ? 5 THEN $MCR.$GENOVERRIDE = $MCR.$GENOVERRIDE + 1 ENDIF ENDIF ENABLE CONDITION[5] END Speed_Up ROUTINE Speed_Down BEGIN IF (($MCR.$GENOVERRIDE ? 1) AND ($MCR.$GENOVERRIDE ?= 5)) THEN $MCR.$GENOVERRIDE = $MCR.$GENOVERRIDE - 1 ELSE IF $MCR.$GENOVERRIDE ? 5 THEN $MCR.$GENOVERRIDE = $MCR.$GENOVERRIDE - 5 ENDIF ENDIF ENABLE CONDITION[6] END Speed_Down ROUTINE Speed_Up_Sft BEGIN IF (($MCR.$GENOVERRIDE ?= 50) AND ($MCR.$GENOVERRIDE ? 100)) THEN $MCR.$GENOVERRIDE = 100 ELSE IF (($MCR.$GENOVERRIDE ?= 5) AND ($MCR.$GENOVERRIDE ? 50)) THEN $MCR.$GENOVERRIDE = 50 ELSE IF (($MCR.$GENOVERRIDE ?= 1) AND ($MCR.$GENOVERRIDE ? 5)) THEN $MCR.$GENOVERRIDE = 5 ENDIF ENDIF ENDIF ENABLE CONDITION[7] END Speed_Up_Sft ROUTINE Speed_Down_Sft BEGIN IF $MCR.$GENOVERRIDE ?= 5 THEN $MCR.$GENOVERRIDE = 1 ELSE IF $MCR.$GENOVERRIDE ?= 50 THEN $MCR.$GENOVERRIDE = 5 ELSE IF $MCR.$GENOVERRIDE ?= 100 THEN $MCR.$GENOVERRIDE = 50 ENDIF ENDIF ENDIF ENABLE CONDITION[8] END Speed_Down_Sft BEGIN CONDITION[1]: WHEN NOT DIN[1] AND NOT DIN[2] DO $MCR.$GENOVERRIDE = 100 ENABLE CONDITION[2] ENABLE CONDITION[3] ENABLE CONDITION[4] ENDCONDITION CONDITION[2]: WHEN NOT DIN[1] AND DIN[2] DO $MCR.$GENOVERRIDE = 50 ENABLE CONDITION[1] ENABLE CONDITION[3] ENABLE CONDITION[4] ENDCONDITION CONDITION[3]: WHEN DIN[1] AND NOT DIN[2] DO $MCR.$GENOVERRIDE = 10 ENABLE CONDITION[1] ENABLE CONDITION[2] ENABLE CONDITION[4] ENDCONDITION CONDITION[4]: WHEN DIN[1] AND DIN[2] DO $MCR.$GENOVERRIDE = 1 ENABLE CONDITION[1] ENABLE CONDITION[2] ENABLE CONDITION[3] ENDCONDITION CONDITION[5]: WHEN TPIN[KY_UF_1]+ DO Speed_Up ENDCONDITION CONDITION[6]: WHEN TPIN[KY_UF_2]+ DO Speed_Down ENDCONDITION CONDITION[7]: WHEN TPIN[KY_UF_1_S]+ DO Speed_Up_Sft ENDCONDITION CONDITION[8]: WHEN TPIN[KY_UF_2_S]+ DO Speed_Down_Sft ENDCONDITION ENABLE CONDITION[1] ENABLE CONDITION[2] ENABLE CONDITION[3] ENABLE CONDITION[4] ENABLE CONDITION[5] ENABLE CONDITION[6] ENABLE CONDITION[7] ENABLE CONDITION[8] REPEAT main UNTIL DIN[3] END Speed_Ctrl_V2 PROGRAM Speed_Ctrl_V3 %COMMENT = 'Speed Ctrl V3.0' %NOLOCKGROUP ROUTINE main FROM main ROUTINE Speed_Sel VAR status : INTEGER is_real : BOOLEAN int_val : INTEGER real_val : REAL mem_reg : INTEGER BEGIN GET_REG(3,is_real,int_val,real_val,status) $MCR.$GENOVERRIDE = int_val END Speed_Sel BEGIN CONDITION[1]: WHEN NOT OPOUT[23] DO Speed_Sel ENABLE CONDITION[1] ENDCONDITION ENABLE CONDITION[1] REPEAT main UNTIL DIN[3] END Speed_Ctrl_V3