START START

(home())
THIẾT LẬP I/O
KHAI BÁO BIẾN
KHAI BÁO THƯ VIỆN RUN MOTOR 1, 2, 3

home()
NO
CONVEYOR RUNNING home() INPUT(CTHT1)=0?

YES

INPUT(CB)=0? YES CONVEYOR NO

vitri() batvat() ohang1() INPUT(CTHT2)=0?
&& m ='red'? STOPS

YES
NO

YES NO
INPUT(CB)=0? CONVEYOR INPUT(CTHT3)=0?
vitri() batvat() ohang2()
&& m ='blue'? STOPS
YES
NO
NO STOP MOTOR 1, 2, 3
YES
INPUT(CB)=0? CONVEYOR
vitri() batvat() ohang2()
&& m ='blue'? STOPS

SET HOME POSSITION

START START START START START END

(ohang1()) (ohang2()) (ohang3()) (vitri()) (batvat())

thetha1 = -45 giachut = 1

thetha1 = -17 thetha1 = -15 thetha1 = -17
thetha2 = -15 bom = 1
thetha2 = -15 thetha2 = -25 thetha2 = -47
thetha3 = -20
thetha3 = -47 thetha3 = -30 thetha3 = -15
END
delay(300)
delay(300) delay(300) delay(300)

END PBL4: MECHATRONICS SYSTEM DESIGN

giachut = 0 giachut = 0 giachut = 0
ALGORITHM FLOWCHART
bom = 0 bom = 0 bom = 0
Lecturers: PhD. Pham Duc Anh
END END END PhD. Tran Dinh Son
Student: Khong Nguyen Duc Duy
Pham Trung Thanh