robo_line_follower.g7.xml

<?xml version="1.0" encoding="ISO-8859-1" ?>
  <G7Project>
    <Graph>
      <Objects>
        <Obj Name="X1" Page="0" CellX="1" CellY="4" BarInIdx="0" BarOutIdx="1" Type="1" Flags="1">
          <Code>
          </Code>
          <Text>
          </Text>
        </Obj>
        <Obj Name="t0" Page="0" CellX="1" CellY="6" BarInIdx="1" BarOutIdx="2" Type="2" Flags="0">
          <Code>
            i1
          </Code>
          <Text>
          </Text>
        </Obj>
        <Obj Name="X2" Page="0" CellX="1" CellY="8" BarInIdx="2" BarOutIdx="3" Type="1" Flags="0">
          <Code>
          </Code>
          <Text>
          </Text>
        </Obj>
        <Obj Name="t1" Page="0" CellX="1" CellY="10" BarInIdx="3" BarOutIdx="4" Type="2" Flags="0">
          <Code>
            i0 or i2
          </Code>
          <Text>
          </Text>
        </Obj>
        <Obj Name="Jump0" Page="0" CellX="0" CellY="12" BarInIdx="4" BarOutIdx="-1" Type="4" Flags="2">
          <Code>
          </Code>
          <Text>
          </Text>
        </Obj>
        <Obj Name="Jump0" Page="0" CellX="0" CellY="2" BarInIdx="-1" BarOutIdx="0" Type="5" Flags="0">
          <Code>
          </Code>
          <Text>
          </Text>
        </Obj>
        <Obj Name="Zone8" Page="0" CellX="0" CellY="0" BarInIdx="-1" BarOutIdx="-1" Type="1" Flags="0">
          <Code>
            v := 160 - 0.03 * abs(2000.0 - position);<br/>w := -0.05 * (2000.0 - position);<br/>v1 := v + w;<br/>v2 := v - w;<br/>if (v1 &gt;255) then v1:= 255; end_if;<br/>if (v1&lt;-255) then v1:=-255; end_if;<br/>if (v2 &gt;255) then v2:= 255; end_if;<br/>if (v2&lt;-255) then v2:=-255; end_if;<br/>if x2 then<br/>set_motors(v1, v2);<br/>else<br/>set_motors(0, 0);<br/>end_if;<br/>if ((sw0 % 50)=0) then<br/>clear();<br/>printf(&quot;%3d %3d&quot;,v1,v2);<br/>lcd_goto_xy(0,1);<br/>printf(&quot;%04d %d%d&quot;, position, X1, X2);<br/>end_if;
          </Code>
          <Text>
          </Text>
        </Obj>
        <Obj Name="Zone1" Page="0" CellX="1" CellY="0" BarInIdx="-1" BarOutIdx="-1" Type="1" Flags="0">
          <Code>
            if (sw0=0) then<br/>calibrate();<br/>end_if;
          </Code>
          <Text>
          </Text>
        </Obj>
        <Obj Name="X3" Page="0" CellX="0" CellY="16" BarInIdx="-1" BarOutIdx="-1" Type="1" Flags="0">
          <Code>
          </Code>
          <Text>
          </Text>
        </Obj>
      </Objects>
    </Graph>
  </G7Project>