<root>
<document schema='101' license=',Dev User,MDYD7H' title='' description='' guid='a6e3e0e0-7b88-4f1f-91c5-31382c688c47' target='PIC.16F.16F877A' >
	<config data='!0,3f72%0,2%2,0%3,0%6,1%7,0%9,3%b,1%8,1%d,1' clkspd='19660800' simspd='1' usewdt='0' constif='0' />
	<plugins >
		<dll_dbg_icd enabled='0' >
			<data name='debug' value='1' />
			<data name='userpins' value='0' />
			<data name='speed' value='1000' />
			<data name='firmware' value='0000000000000000' />
			<data name='breaks' value='8' />
			<data name='stacks' value='8' />
			<data name='clkport' value='1' />
			<data name='clkbit' value='6' />
			<data name='dataport' value='1' />
			<data name='databit' value='7' />
			<data name='monitor' value='1' />
			<data name='ictloop' value='1' />
			<data name='ictrate' value='1000' />
			<data name='ictmask' value='-1' />
		</dll_dbg_icd>
		<dll_dbg_ict enabled='0' >
			<data name='speed' value='1000' />
			<data name='firmware' value='0000000000000000' />
			<data name='breaks' value='8' />
			<data name='stacks' value='8' />
			<data name='clkport' value='1' />
			<data name='clkbit' value='6' />
			<data name='dataport' value='1' />
			<data name='databit' value='7' />
			<data name='userpins' value='0' />
		</dll_dbg_ict>
		<dll_models enabled='1' />
		<dll_upgrader enabled='1' />
	</plugins>
	<supplement use='0' head='' body='' />
	<debug />
	<components >
		<settings autoimg='1' center='1' unitscale='1' fixedscale='0' fixedx='0' fixedy='0' fixedz='0' headcode='0' />
		<definition guid='a6e3e0e0-7b88-4f1f-91c5-31382c688c47' vmin='0' vmaj='1' visiblename='' description='' category='' dynamic='0' iconpath='' />
		<component class_type='root' codename='panel' x='0' y='0' z='0' xsz='1' ysz='1' zsz='1' xang='0' yang='0' zang='0' xquat='0' yquat='0' zquat='0' wquat='1' visible='1' interactive='1' solid='1' layer='0' >
			<resources />
			<properties />
			<values />
			<events />
			<apis />
			<variables >
				<variable public='0' >
					<def class_type='variable' name='Direction2' type='u16' array='0' description='' isconst='0' isinit='0' usrinit='0' setinit='' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='collide' type='s16' array='0' description='' isconst='0' isinit='0' usrinit='0' setinit='' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Angle' type='s16' array='0' description='' isconst='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Count' type='u16' array='0' description='' isconst='0' isinit='0' usrinit='0' setinit='' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Timeout' type='u8' array='0' description='' isconst='0' isinit='0' usrinit='0' setinit='' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='false' type='b1' array='0' description='' isconst='1' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='FloorPos' type='u32' array='0' description='Handle of the floor position' isconst='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Pos' type='u32' array='0' description='' isconst='0' isinit='0' usrinit='0' setinit='' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Angle3o' type='s16' array='0' description='' isconst='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Angle3' type='s16' array='0' description='' isconst='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Angle2' type='s16' array='0' description='' isconst='0' isinit='0' usrinit='0' setinit='' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Direction' type='s16' array='0' description='Moving for Angle' isconst='0' isinit='1' usrinit='1' setinit='1' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Direction3' type='s16' array='0' description='' isconst='0' isinit='0' usrinit='0' setinit='' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='true' type='b1' array='0' description='' isconst='1' isinit='1' usrinit='1' setinit='1' />
				</variable>
			</variables>
			<macros >
				<macro >
					<flowline name='register' description='' >
						<command class_type='sim' title='Panel' comment='' ccode='' textshow='1' textmode='0' textarea='36,0,36,0' break='0' mark='0' disable='0' hide='0' customize='0' component='ButtonCtrl' macro='Register' >
							<argument exp='rotleft' />
						</command>
						<command class_type='sim' title='Panel' comment='' ccode='' textshow='1' textmode='0' textarea='36,0,36,0' break='0' mark='0' disable='0' hide='0' customize='0' component='ButtonCtrl' macro='Register' >
							<argument exp='rotright' />
						</command>
						<command class_type='sim' title='Panel' comment='' ccode='' textshow='1' textmode='0' textarea='36,0,36,0' break='0' mark='0' disable='0' hide='0' customize='0' component='ButtonCtrl' macro='Register' >
							<argument exp='baseup' />
						</command>
						<command class_type='sim' title='Panel' comment='' ccode='' textshow='1' textmode='0' textarea='36,0,36,0' break='0' mark='0' disable='0' hide='0' customize='0' component='ButtonCtrl' macro='Register' >
							<argument exp='basedown' />
						</command>
						<command class_type='sim' title='Panel' comment='' ccode='' textshow='1' textmode='0' textarea='36,0,36,0' break='0' mark='0' disable='0' hide='0' customize='0' component='ButtonCtrl' macro='Register' >
							<argument exp='topup' />
						</command>
						<command class_type='sim' title='Panel' comment='' ccode='' textshow='1' textmode='0' textarea='36,0,36,0' break='0' mark='0' disable='0' hide='0' customize='0' component='ButtonCtrl' macro='Register' >
							<argument exp='topdown' />
						</command>
						<command class_type='sim' title='Panel' comment='' ccode='' textshow='1' textmode='0' textarea='36,0,36,0' break='0' mark='0' disable='0' hide='0' customize='0' component='ButtonCtrl' macro='Register' >
							<argument exp='led' />
						</command>
					</flowline>
				</macro>
				<macro >
					<flowline name='move' description='Moevs the robot arm by Angle1, Angle2, Angle3' >
						<command class_type='sim' title='Panel' comment='' ccode='' textshow='1' textmode='0' textarea='36,0,36,0' break='0' mark='0' disable='0' hide='0' customize='0' macro='Panel.Position.RotateTo' >
							<argument exp='Shoulder' />
							<argument exp='Hinge2' />
							<argument exp='0' />
							<argument exp='0' />
							<argument exp='Angle' />
							<argument exp='0' />
						</command>
						<command class_type='sim' title='Panel' comment='' ccode='' textshow='1' textmode='0' textarea='36,0,36,0' break='0' mark='0' disable='0' hide='0' customize='0' macro='Panel.Position.SetCoords' >
							<argument exp='Long' />
							<argument exp='Tip2' />
						</command>
						<command class_type='sim' title='Panel' comment='' ccode='' textshow='1' textmode='0' textarea='36,0,36,0' break='0' mark='0' disable='0' hide='0' customize='0' macro='Panel.Position.RotateTo' >
							<argument exp='Long' />
							<argument exp='Tip2' />
							<argument exp='0' />
							<argument exp='0' />
							<argument exp='Angle2' />
							<argument exp='0' />
						</command>
						<command class_type='sim' title='Panel' comment='' ccode='' textshow='1' textmode='0' textarea='36,0,36,0' break='0' mark='0' disable='0' hide='0' customize='0' macro='Panel.Position.SetCoords' >
							<argument exp='weld' />
							<argument exp='Hand' />
						</command>
						<command class_type='sim' title='Panel' comment='' ccode='' textshow='1' textmode='0' textarea='36,0,36,0' break='0' mark='0' disable='0' hide='0' customize='0' macro='Panel.Position.RotateZ' >
							<argument exp='Robot' />
							<argument exp='base' />
							<argument exp='Direction3' />
						</command>
					</flowline>
				</macro>
				<macro >
					<flowline name='Main' description='' >
						<local name='keystate' type='u8' array='0' description='' isconst='0' isinit='0' usrinit='0' setinit='' />
						<command class_type='call' title='Call Macro' comment='' ccode='' textshow='1' textmode='0' textarea='36,0,36,0' break='0' mark='0' disable='0' hide='0' customize='0' macro='register' />
						<command class_type='calculation' title='Calculation' comment='' ccode='' textshow='1' textmode='0' textarea='36,0,36,0' break='0' mark='0' disable='0' hide='0' customize='0' >
							<exp exp='Angle = 40' />
							<exp exp='Direction = 2' />
							<exp exp='Angle2 = 40' />
							<exp exp='Direction2 = 3' />
							<exp exp='Direction3 = 1' />
							<exp exp='Count = 0' />
							<exp exp='Timeout = random ()' />
							<exp exp='$PORTA.0 = 0' />
						</command>
						<command class_type='sim' title='Panel' comment='' ccode='' textshow='1' textmode='0' textarea='36,0,36,0' break='0' mark='0' disable='0' hide='0' customize='0' macro='Panel.Position.GetOrigin' >
							<return exp='FloorPos' />
						</command>
						<command class_type='sim' title='Panel' comment='' ccode='' textshow='1' textmode='0' textarea='36,0,36,0' break='0' mark='0' disable='0' hide='0' customize='0' macro='Panel.Position.ScaleTo' >
							<argument exp='FloorPos' />
							<argument exp='512' />
							<argument exp='512' />
							<argument exp='2' />
						</command>
						<command class_type='loop' title='Loop' comment='' ccode='' textshow='1' textmode='0' textarea='36,0,511,300' break='0' mark='0' disable='0' hide='0' customize='0' exp='1' type='0' start='1' count='1' breakend='0' >
							<flowline >
								<command class_type='decision' title='Decide if auto-move' comment='' ccode='' textshow='1' textmode='0' textarea='36,0,36,0' break='0' mark='0' disable='0' hide='0' customize='0' exp='$PORTA.0' swap='0' >
									<flowline >
										<command class_type='decision' title='Decision' comment='' ccode='' textshow='1' textmode='0' textarea='36,0,36,0' break='0' mark='0' disable='0' hide='0' customize='0' exp='ButtonCtrl :: GetStateFor (led)' swap='0' >
											<flowline >
												<command class_type='calculation' title='Calculation' comment='' ccode='' textshow='1' textmode='0' textarea='36,0,36,0' break='0' mark='0' disable='0' hide='0' customize='0' >
													<exp exp='Direction3 = 0' />
													<exp exp='$PORTA.0 = 0' />
												</command>
												<command class_type='loop' title='Depress' comment='' ccode='' textshow='1' textmode='0' textarea='36,0,36,0' break='0' mark='0' disable='0' hide='0' customize='0' exp='ButtonCtrl :: GetStateFor (led)' type='0' start='1' count='1' breakend='0' >
													<flowline />
												</command>
											</flowline>
											<flowline />
										</command>
										<command class_type='calculation' title='Calculation' comment='' ccode='' textshow='1' textmode='0' textarea='36,0,36,0' break='0' mark='0' disable='0' hide='0' customize='0' >
											<exp exp='Angle = Angle + Direction' />
											<exp exp='Angle2 = Angle2 + Direction2' />
											<exp exp='Angle3 = Angle3 + Direction3' />
											<exp exp='Count = Count + 1' />
										</command>
										<command class_type='sim' title='Panel' comment='' ccode='' textshow='1' textmode='0' textarea='36,0,36,0' break='0' mark='0' disable='0' hide='0' customize='0' macro='Panel.Collision.TestTable' >
											<return exp='collide' />
											<argument exp='Hand' />
										</command>
										<command class_type='decision' title='Decide if move up to rest on table' comment='' ccode='' textshow='1' textmode='0' textarea='36,0,36,0' break='0' mark='0' disable='0' hide='0' customize='0' exp='collide &gt; 0' swap='0' >
											<flowline >
												<command class_type='calculation' title='Calculation' comment='' ccode='' textshow='1' textmode='0' textarea='36,0,36,0' break='0' mark='0' disable='0' hide='0' customize='0' >
													<exp exp='Direction2 = -3' />
												</command>
											</flowline>
											<flowline />
										</command>
										<command class_type='decision' title='Decision' comment='' ccode='' textshow='1' textmode='0' textarea='36,0,36,0' break='0' mark='0' disable='0' hide='0' customize='0' exp='Count &gt; (Timeout + 30)' swap='0' >
											<flowline >
												<command class_type='calculation' title='Calculation' comment='' ccode='' textshow='1' textmode='0' textarea='36,0,36,0' break='0' mark='0' disable='0' hide='0' customize='0' >
													<exp exp='Count = 0' />
													<exp exp='Direction3 = 0 - Direction3' />
													<exp exp='Timeout = random ()' />
												</command>
											</flowline>
											<flowline />
										</command>
										<command class_type='decision' title='Decision' comment='' ccode='' textshow='1' textmode='0' textarea='36,0,511,300' break='0' mark='0' disable='0' hide='0' customize='0' exp='Angle &gt; 89' swap='0' >
											<flowline >
												<command class_type='calculation' title='Calculation' comment='' ccode='' textshow='1' textmode='0' textarea='36,0,511,300' break='0' mark='0' disable='0' hide='0' customize='0' >
													<exp exp='Direction = -1' />
												</command>
											</flowline>
											<flowline />
										</command>
										<command class_type='decision' title='Decision' comment='' ccode='' textshow='1' textmode='0' textarea='36,0,511,300' break='0' mark='0' disable='0' hide='0' customize='0' exp='Angle &lt; 1' swap='0' >
											<flowline >
												<command class_type='calculation' title='Calculation' comment='' ccode='' textshow='1' textmode='0' textarea='36,0,511,300' break='0' mark='0' disable='0' hide='0' customize='0' >
													<exp exp='Direction = 1' />
												</command>
											</flowline>
											<flowline />
										</command>
										<command class_type='decision' title='Decision' comment='' ccode='' textshow='1' textmode='0' textarea='36,0,511,300' break='0' mark='0' disable='0' hide='0' customize='0' exp='Angle2 &gt; 45' swap='0' >
											<flowline >
												<command class_type='calculation' title='Calculation' comment='' ccode='' textshow='1' textmode='0' textarea='36,0,36,0' break='0' mark='0' disable='0' hide='0' customize='0' >
													<exp exp='Direction2 = -3' />
												</command>
											</flowline>
											<flowline />
										</command>
										<command class_type='decision' title='Decision' comment='' ccode='' textshow='1' textmode='0' textarea='36,0,511,300' break='0' mark='0' disable='0' hide='0' customize='0' exp='Angle2 &lt; -45' swap='0' >
											<flowline >
												<command class_type='calculation' title='Calculation' comment='' ccode='' textshow='1' textmode='0' textarea='36,0,511,300' break='0' mark='0' disable='0' hide='0' customize='0' >
													<exp exp='Direction2 = 3' />
												</command>
											</flowline>
											<flowline />
										</command>
									</flowline>
									<flowline >
										<command class_type='calculation' title='Calculation' comment='' ccode='' textshow='1' textmode='0' textarea='36,0,36,0' break='0' mark='0' disable='0' hide='0' customize='0' >
											<exp exp='Direction3 = 0' />
										</command>
										<command class_type='decision' title='Decision' comment='' ccode='' textshow='1' textmode='0' textarea='36,0,36,0' break='0' mark='0' disable='0' hide='0' customize='0' exp='ButtonCtrl :: GetStateFor (topdown)' swap='0' >
											<flowline >
												<command class_type='calculation' title='Calculation' comment='' ccode='' textshow='1' textmode='0' textarea='36,0,36,0' break='0' mark='0' disable='0' hide='0' customize='0' >
													<exp exp='Angle = Angle - Direction * 3' />
												</command>
											</flowline>
											<flowline />
										</command>
										<command class_type='decision' title='Decision' comment='' ccode='' textshow='1' textmode='0' textarea='36,0,36,0' break='0' mark='0' disable='0' hide='0' customize='0' exp='ButtonCtrl :: GetStateFor (topup)' swap='0' >
											<flowline >
												<command class_type='calculation' title='Calculation' comment='' ccode='' textshow='1' textmode='0' textarea='36,0,36,0' break='0' mark='0' disable='0' hide='0' customize='0' >
													<exp exp='Angle = Angle + Direction * 3' />
												</command>
											</flowline>
											<flowline />
										</command>
										<command class_type='decision' title='Decision' comment='' ccode='' textshow='1' textmode='0' textarea='36,0,36,0' break='0' mark='0' disable='0' hide='0' customize='0' exp='ButtonCtrl :: GetStateFor (basedown)' swap='0' >
											<flowline >
												<command class_type='calculation' title='Calculation' comment='' ccode='' textshow='1' textmode='0' textarea='36,0,36,0' break='0' mark='0' disable='0' hide='0' customize='0' >
													<exp exp='Angle2 = Angle2 - Direction2 * 3' />
												</command>
											</flowline>
											<flowline />
										</command>
										<command class_type='decision' title='Decision' comment='' ccode='' textshow='1' textmode='0' textarea='36,0,36,0' break='0' mark='0' disable='0' hide='0' customize='0' exp='ButtonCtrl :: GetStateFor (baseup)' swap='0' >
											<flowline >
												<command class_type='calculation' title='Calculation' comment='' ccode='' textshow='1' textmode='0' textarea='36,0,36,0' break='0' mark='0' disable='0' hide='0' customize='0' >
													<exp exp='Angle2 = Angle2 + Direction2 * 3' />
												</command>
											</flowline>
											<flowline />
										</command>
										<command class_type='decision' title='Decision' comment='' ccode='' textshow='1' textmode='0' textarea='36,0,36,0' break='0' mark='0' disable='0' hide='0' customize='0' exp='ButtonCtrl :: GetStateFor (rotleft)' swap='0' >
											<flowline >
												<command class_type='calculation' title='Calculation' comment='' ccode='' textshow='1' textmode='0' textarea='36,0,36,0' break='0' mark='0' disable='0' hide='0' customize='0' >
													<exp exp='Direction3 = -1 * 3' />
												</command>
											</flowline>
											<flowline />
										</command>
										<command class_type='decision' title='Decision' comment='' ccode='' textshow='1' textmode='0' textarea='36,0,36,0' break='0' mark='0' disable='0' hide='0' customize='0' exp='ButtonCtrl :: GetStateFor (rotright)' swap='0' >
											<flowline >
												<command class_type='calculation' title='Calculation' comment='' ccode='' textshow='1' textmode='0' textarea='36,0,36,0' break='0' mark='0' disable='0' hide='0' customize='0' >
													<exp exp='Direction3 = 1 * 3' />
												</command>
											</flowline>
											<flowline />
										</command>
										<command class_type='decision' title='Decision' comment='' ccode='' textshow='1' textmode='0' textarea='36,0,36,0' break='0' mark='0' disable='0' hide='0' customize='0' exp='ButtonCtrl :: GetStateFor (led)' swap='0' >
											<flowline >
												<command class_type='calculation' title='Calculation' comment='' ccode='' textshow='1' textmode='0' textarea='36,0,36,0' break='0' mark='0' disable='0' hide='0' customize='0' >
													<exp exp='Direction3 = 1' />
													<exp exp='$PORTA.0 = 1' />
												</command>
												<command class_type='loop' title='Depress' comment='' ccode='' textshow='1' textmode='0' textarea='36,0,36,0' break='0' mark='0' disable='0' hide='0' customize='0' exp='ButtonCtrl :: GetStateFor (led)' type='0' start='1' count='1' breakend='0' >
													<flowline />
												</command>
											</flowline>
											<flowline />
										</command>
									</flowline>
								</command>
								<command class_type='call' title='Update position' comment='' ccode='' textshow='1' textmode='0' textarea='36,0,36,0' break='0' mark='0' disable='0' hide='0' customize='0' macro='move' />
								<command class_type='delay' title='Delay' comment='' ccode='' textshow='1' textmode='0' textarea='36,0,36,0' break='0' mark='0' disable='0' hide='0' customize='0' exp='50' type='1' />
							</flowline>
						</command>
					</flowline>
				</macro>
			</macros>
			<component class_type='group' codename='Robot' x='-35.8625' y='-88.763' z='86' xsz='1' ysz='1' zsz='1' xang='0' yang='0' zang='68.0001' xquat='0' yquat='0' zquat='-0.559194' wquat='-0.829037' visible='1' interactive='1' solid='1' layer='0' >
				<resources />
				<properties />
				<values />
				<events />
				<apis />
				<variables />
				<macros />
				<component class_type='shape' codename='shape6' x='95.734' y='-16' z='-6' xsz='64' ysz='80' zsz='32' xang='90' yang='0' zang='-180' xquat='4.32978e-017' yquat='-0.707107' zquat='-0.707107' wquat='4.32978e-017' visible='1' interactive='1' solid='1' layer='0' >
					<resources />
					<properties />
					<values >
						<value target='Shape' data='0' />
						<value target='Color' data='49344' />
						<value target='Outline' data='0' />
						<value target='Thickness' data='0' />
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