24_7 StateManager

Input:

thread : INT := 1;
power : BOOL := FALSE;
stop : BOOL := FALSE;
poweredOn : BOOL;

Output:

motorStartup : BOOL;
motorShutoff : BOOL;
idle : BOOL;
freeMove : BOOL;
continiousTarget : BOOL;
home : BOOL;



Description:

1. Use Statemanager as the 'brain' of the
program. Starting, stopping, powering and 
changing programs happens thorough the 
StateManager, which is a CFC. 

2. It switches to different programs based
on the value of the State input. At startup, 
the program will always start in idle and be 
ready to receive new commands. 

3. If too high a torque is reached, the 
program will automatically switch to Idle and
stop the motors when the cable robot is 
operated.

4. MQTT outputs are connected to the 
StateManager as inputs, which allows programs
to also be changed through an external GUI, in 
addition to signals for start, stop and
power on.

Type: Function

Responsible: Kenneth

Code Overview

FUNCTION_BLOCK state_manager
VAR_INPUT
	thread : INT := 1;
	power : BOOL := FALSE;
	stop : BOOL := FALSE;
	poweredOn : BOOL;
END_VAR
VAR_OUTPUT
	motorStartup : BOOL;
	motorShutoff : BOOL;
	idle : BOOL;
	freeMove : BOOL;
	continiousTarget : BOOL;
	home : BOOL;
END_VAR
VAR
	state : INT := 1;
END_VARstate := thread;

IF power THEN (* Power up *)
motorStartup := TRUE;
motorShutoff := FALSE;
idle := FALSE;
freeMove := FALSE;
continiousTarget := FALSE; 
home := FALSE;
END_IF;

IF NOT stop THEN 
IF poweredOn AND state = 1 THEN (* idle *)
motorShutoff := FALSE;
idle := TRUE;
freeMove := FALSE;
continiousTarget := FALSE; 
home := FALSE;
ELSIF state = 2 AND poweredOn THEN (* Free Move *)
motorShutoff := FALSE;
idle := FALSE;
freeMove := TRUE;
continiousTarget := FALSE; 
home := FALSE;
ELSIF state = 3 AND poweredOn THEN (* Move to target *)
motorShutoff := FALSE;
idle := FALSE;
freeMove := FALSE;
continiousTarget := TRUE; 
home := FALSE;
ELSIF state = 4 AND poweredOn THEN (* Homing *)
motorShutoff := FALSE;
idle := FALSE;
freeMove := FALSE;
continiousTarget := FALSE; 
home := TRUE;
END_IF
END_IF

IF stop THEN
motorShutoff := TRUE;
idle := TRUE;
freeMove := FALSE;
continiousTarget := FALSE; 
home := FALSE;
state := 1;
END_IF

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