<?xml version="1.0" encoding="UTF-8"?>
<AuboProgram name="Untitled_9" installation="default_8" installationRelativePath="default_8.ins" directory="/root/arcs_ws/program" createdIn="0.32.0-alpha.98" lastSaveIn="0.32.0-alpha.98" robotSerialNumber="A1136362DOO0644" crcValue="225635">
    <kinematics status="NOT_INITIALIZED" validChecksum="false">
        <theta value="3.14159265358979,-1.5707963267949,0,-1.5707963267949,0,0"/>
        <a value="0,-0.000148100007208996,0.40849060001038,0.375726100009866,2.18999994103797e-05,-4.46000012743752e-05"/>
        <d value="0.122,0.121540399998397,-4.03999983973335e-05,4.03999983973335e-05,0.1025,0.094"/>
        <alpha value="0,-1.57059735679906,3.14314250357496,3.14285103360238,-1.57043678680458,1.57125883680675"/>
        <jointChecksum value="0,0,0,0,0,0"/>
    </kinematics>
    <WaypointModel/>
    <TimerModel/>
    <VariableModel>
        <GlobalVariable name="循环_0"/>
        <GlobalVariable name="now_count"/>
        <GlobalVariable name="delta_count"/>
        <GlobalVariable name="uwind_count"/>
        <GlobalVariable name="start_count"/>
        <GlobalVariable name="enc_type"/>
    </VariableModel>
    <SubProgModel/>
    <InitVariablesNode title="初始变量" id="1cc3abb5-83ce-4d41-958a-dd8a962916bf">
        <datamodel/>
    </InitVariablesNode>
    <MainProgramNode title="机器人编程" id="365b91fb-5c3f-4e2c-96f5-1bd714f37c30">
        <datamodel>
            <Bool key="addBeforeStartSequence" value="false"/>
            <Bool key="loopForever" value="false"/>
        </datamodel>
        <children>
            <IfNode title="如果 hasEncoderSensor()" id="e2f908be-7537-40eb-a74d-8b2dc1b37ac4">
                <datamodel>
                    <Bool key="checkContinuously" value="false"/>
                    <Expression key="expression">
                        <String string="hasEncoderSensor"/>
                        <String string="("/>
                        <String string=")"/>
                    </Expression>
                </datamodel>
                <children>
                    <ScriptNode title="setEncDecoderType(0,4)" isSuppress="true" suppressedComment="" id="e10e3ca4-390e-4a28-afbd-0ea71261aaad">
                        <datamodel>
                            <Expression key="expression">
                                <String string="setEncDecoderType"/>
                                <String string="("/>
                                <String string="0"/>
                                <String string=","/>
                                <String string="4"/>
                                <String string=")"/>
                            </Expression>
                            <Bool key="use_file" value="false"/>
                        </datamodel>
                    </ScriptNode>
                    <WaitNode title="等待：1.00s" isSuppress="true" suppressedComment="" id="cde7bda1-8d1e-4b43-b177-0b40d314388c">
                        <datamodel>
                            <String key="compareOperator" value="LESS_THAN"/>
                            <Bool key="di_value" value="false"/>
                            <Expression key="expression"/>
                            <Float32 key="floatValue" value="4"/>
                            <Float64 key="timeout" value="0"/>
                            <String key="type" value="TIME"/>
                            <Float64 key="waitTime" value="1"/>
                        </datamodel>
                    </WaitNode>
                    <ScriptNode title="setEncTickCount(10000)" isSuppress="true" suppressedComment="" id="1dfb1673-be9a-4a3d-b0ca-2229a084018c">
                        <datamodel>
                            <Expression key="expression">
                                <String string="setEncTickCount"/>
                                <String string="("/>
                                <String string="1"/>
                                <String string="0"/>
                                <String string="0"/>
                                <String string="0"/>
                                <String string="0"/>
                                <String string=")"/>
                            </Expression>
                            <Bool key="use_file" value="false"/>
                        </datamodel>
                    </ScriptNode>
                    <WaitNode title="等待：1.00s" isSuppress="true" suppressedComment="" id="c59fce52-7105-46bb-90d8-fa4bc3abb7b3">
                        <datamodel>
                            <String key="compareOperator" value="LESS_THAN"/>
                            <Bool key="di_value" value="false"/>
                            <Expression key="expression"/>
                            <Float32 key="floatValue" value="4"/>
                            <Float64 key="timeout" value="0"/>
                            <String key="type" value="TIME"/>
                            <Float64 key="waitTime" value="1"/>
                        </datamodel>
                    </WaitNode>
                    <AssignmentNode title="enc_type:=getEncDecoderType()" id="bb0ae0b7-f97b-44b5-8aa9-90f8f958dce5">
                        <datamodel>
                            <Expression key="expression">
                                <String string="getEncDecoderType"/>
                                <String string="("/>
                                <String string=")"/>
                            </Expression>
                            <String key="inputMode" value="bool"/>
                            <String key="operatorMessage" value=""/>
                            <Bool key="syncProgramPointer" value="false"/>
                            <String key="type" value="EXPRESSION"/>
                            <Variable key="variable">
                                <variable name="enc_type"/>
                            </Variable>
                        </datamodel>
                    </AssignmentNode>
                    <AssignmentNode title="start_count:=getEncTickCount()" id="ecaeff1c-143d-4deb-98d0-35caf15e84c0">
                        <datamodel>
                            <Expression key="expression">
                                <String string="getEncTickCount"/>
                                <String string="("/>
                                <String string=")"/>
                            </Expression>
                            <String key="inputMode" value="bool"/>
                            <String key="operatorMessage" value=""/>
                            <Bool key="syncProgramPointer" value="false"/>
                            <String key="type" value="EXPRESSION"/>
                            <Variable key="variable">
                                <variable name="start_count"/>
                            </Variable>
                        </datamodel>
                    </AssignmentNode>
                    <LoopNode title="循环_0 " id="142ad485-0b47-4d40-bb48-fe97d5a60fae">
                        <datamodel>
                            <Bool key="evaluateContinously" value="false"/>
                            <Expression key="expression"/>
                            <Int32 key="loopCount" value="0"/>
                            <String key="type" value="ALWAYS"/>
                            <Variable key="variable">
                                <variable name="循环_0"/>
                            </Variable>
                        </datamodel>
                        <children>
                            <AssignmentNode title="now_count:=getEncTickCount()" id="d7a2c154-7232-4070-8d01-e93b993fd4a2">
                                <datamodel>
                                    <Expression key="expression">
                                        <String string="getEncTickCount"/>
                                        <String string="("/>
                                        <String string=")"/>
                                    </Expression>
                                    <String key="inputMode" value="bool"/>
                                    <String key="operatorMessage" value=""/>
                                    <Bool key="syncProgramPointer" value="false"/>
                                    <String key="type" value="EXPRESSION"/>
                                    <Variable key="variable">
                                        <variable name="now_count"/>
                                    </Variable>
                                </datamodel>
                            </AssignmentNode>
                            <AssignmentNode title="delta_count:=start_count - now_count" id="9b2f9ac9-a71a-4f46-a4bf-ca64af88012c">
                                <datamodel>
                                    <Expression key="expression">
                                        <Variable name="start_count"/>
                                        <String string=" "/>
                                        <String string="-"/>
                                        <String string=" "/>
                                        <Variable name="now_count"/>
                                    </Expression>
                                    <String key="inputMode" value="bool"/>
                                    <String key="operatorMessage" value=""/>
                                    <Bool key="syncProgramPointer" value="false"/>
                                    <String key="type" value="EXPRESSION"/>
                                    <Variable key="variable">
                                        <variable name="delta_count"/>
                                    </Variable>
                                </datamodel>
                            </AssignmentNode>
                            <AssignmentNode title="uwind_count:=unwindEncDeltaTickCount(delta_count)" id="87b28469-37b9-4389-8c1a-192ea35f0576">
                                <datamodel>
                                    <Expression key="expression">
                                        <String string="unwindEncDeltaTickCount"/>
                                        <String string="("/>
                                        <Variable name="delta_count"/>
                                        <String string=")"/>
                                    </Expression>
                                    <String key="inputMode" value="bool"/>
                                    <String key="operatorMessage" value=""/>
                                    <Bool key="syncProgramPointer" value="false"/>
                                    <String key="type" value="EXPRESSION"/>
                                    <Variable key="variable">
                                        <variable name="uwind_count"/>
                                    </Variable>
                                </datamodel>
                            </AssignmentNode>
                        </children>
                    </LoopNode>
                </children>
            </IfNode>
            <ElseNode title="否则" id="4a4a1415-7760-4a15-a747-948b8221f0ba">
                <datamodel/>
                <children>
                    <PopupNode title="弹窗 警告：没有配置编码器" id="852e65a2-54b4-4a6a-ab5d-5b12bfb5c1a9">
                        <datamodel>
                            <Bool key="haltAtHere" value="false"/>
                            <String key="message" value="没有配置编码器"/>
                            <String key="type" value="WARNING"/>
                            <Bool key="useVariable" value="false"/>
                        </datamodel>
                    </PopupNode>
                    <HaltNode title="终止" id="ab56603a-64f4-482e-ab6d-fc38da1cc0e3">
                        <datamodel/>
                    </HaltNode>
                </children>
            </ElseNode>
        </children>
    </MainProgramNode>
</AuboProgram>
