Robot Application1 in Lua

`--点位定义--
local POS = {Standby=p51,Put=p52,TakePhoto=p53}
p12["x"],p12["y"],p12["z"],p12["c"],p12["h"]=p11["x"]+175,p11["y"],p11["z"],p11["c"],p11["h"]
p13["x"],p13["y"],p13["z"],p13["c"],p13["h"]=p11["x"],p11["y"]+375,p11["z"],p11["c"],p11["h"]
local PLT = {No=1,org=p11,xx=p12,yy=p13,XN=2,YN=5} --码垛参数
local CCDPos = {x=0,y=0,z=0,c=0,h=0} --像素
--IO定义--
local IO = {SuctionAir=0,BrokenAir=1}
--其他定义--
local n,data,T1,OnePieceTime
local TIME = {SuctionAir=10,BrokenAir=10,TakePhoto=5,WaitFor=10}
--IO初始化
DO({IO["SuctionAir"],IO["BrokenAir"]},{OFF,ON});Delay(TIME["BrokenAir"]);
MotOn();Delay(TIME["WaitFor"]);
SetU(0);SetT(0);
MovJ(J3,0)
MArchP(POS["Standby"],-85,5,5)
SetPlt(PLT["No"],PLT["org"],PLT["xx"],PLT["yy"],PLT["XN"],PLT["YN"])

function main()
while true do
T1 = systime()
for index=1,PLT["XN"]*PLT["YN"] do
MArchP(GetPlt(PLT["No"],(index-1)%PLT["XN"]+1,(index-1)//PLT["XN"]+1),-85,5,5)
DO({IO["BrokenAir"],IO["SuctionAir"]},{OFF,ON});Delay(TIME["SuctionAir"]);
MArchP(POS["TakePhoto"],-85,5,5);Delay(TIME["WaitFor"]);
::start::
CCDclr("CAM0")
CCDsent("CAM0","0,0,0,0;")
Delay(TIME["TakePhoto"])
n,data=CCDrecv("CAM0")

        if data then
            if((data[n][1]~=0)and(data[n][2]~=0))and(n==1)then
                print(n,data[n][1],data[n][2],data[n][3])
                CCDPos["x"]  = data[n][1]
                CCDPos["y"]  = data[n][2]
                CCDPos["c"]  = data[n][3]
                V2Tool(CCDPos,2)
            else
                print("XY坐标为0!")
                --Pause()
                goto start
            end
        else
            print("拍照失败!")
            --Pause()
            goto start
        end
        --
        SetU(0);SetT(2);
        --Pause()
        MovP(POS["Put"]+Z(30),"CP=90") --Put Up
        MovP(POS["Put"]);Delay(TIME["WaitFor"]); --Put Down
        DO({IO["SuctionAir"],IO["BrokenAir"]},{OFF,ON});Delay(TIME["BrokenAir"]);  --BrokenAir
        MovP(POS["Put"]+Z(30),"CP=90") --Get Up
        Delay(80)
        MovP(POS["Put"])                --Get Down
        DO({IO["BrokenAir"],IO["SuctionAir"]},{OFF,ON});Delay(TIME["SuctionAir"]); --SuctionAir
        MovP(POS["Put"]+Z(30),"CP=90") --Get Up
        SetU(0);SetT(0);
        MArchP(GetPlt(PLT["No"],(index-1)%PLT["XN"]+1,(index-1)//PLT["XN"]+1),-85,5,5) --PLT
        DO({IO["SuctionAir"],IO["BrokenAir"]},{OFF,ON});Delay(TIME["BrokenAir"]);  --BrokenAir
    end
    OnePieceTime = ((systime()-T1)/1000)/(PLT["XN"]*PLT["YN"])
    print("平均完成1片的时间是："..OnePieceTime.."S")
    if(OnePieceTime>(60*60)/2500)then
        print("慢了"..OnePieceTime-(60*60)/2500 .."S")
    else
        print("快了"..(60*60)/2500-OnePieceTime.."S")
    end
end

end`