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Ȍ ̌+ Ḧ+ ((⊀ "   Ȁ ꈂ  ̀ |Ǐ?9<qx8<8y?<9<|ǟ??>|?x?"dffff?y?~ޏGxq~ޏGxq~ޏGx!<8?<?c1c1c??p33yˏ??ϳ~Zpwwwwwwhh(X~||@||||l||||xx|||||t|||@||||||||| |~~~RSRCLVIN2t 2A!!0D PortJ𳳳  motor leftDDlmylny1000A0B AVcVc5DDUEb^UFb^1000C]z^z157B A?gLn?hLn4DDS`8S `81000A7T8T0BZa[a A=AJH=BJH3DDS`S`1000A..0B4;5; A=J"=J"2Kop  motor rightDDUbUb1000C433B  A?L?L1DD8 81000A7#T8#T0BZ&a[&a AAHBH6DD1000A#.#.0B4&;5&; A""7AUbUbҳ0DDkxkx1000C޵޳132B볳 Port 0Port 1<(o# /Choose the port on which the robot is connectedO򳳳 Sensors_displ C  1 1202DD1000C`rar10.FPHPSensors4FPHP40434x485>E<PL' )PTn@ :4PU"kko'  @   )h   | "  &    HXT0@@ : 8˯llp4 J  0 6 0˧@ : 4hmkko0  oʨ @ : Appl, hh0$ 4  2  T 6 jyD&@<4@T8T@P G A @4 B Tc @ : žook0   H : 0ʳ0/.-p 6 0ˢˢˡHX &1 @ \<4h D 4 d 4 B# T@P CA&1 4@,<| 4 Jh 3'< 4  2h $/ @ :h Appl@ :h &ookH :h $0ʳ0/.-0 h &1 p 60 " " "@ :8 "llp@ :4"kko0 20"0  # T 6U^U^h@ 0  ( DP  H X4&W @T<  X84 B T@I @ P C TA4&W L @,  x ` 4 J  Y'b d4  2 6$U l@ :  A-4ppl@ :  -&4ookH :  6$<0ʳ0/.-0  4&W  p 6 T0A HA HA H@ : T8 AHllp@ : T4AHkko0 2 T0AH0  T@ I T  6 T9UU`@ 0  TH  H X@> @0@< |<|4 B>M @P GA |@,PL4 J   4  2  @ : Appl@ : ookH : 0ʳ0/.-0    p 60y|y|z{@ :8llp@ :4RWkko0 60z0 Y T 6Tc77@0pH4 n HX<1@"<TdDt4 B<K# ,@P GA1T@,(\$4 J 3< 4  2 / @ : Appl@ : ookH : 0ʳ0/.-0  1 p 60"""@ :8"llp0 20"0 W# T 6Ra^^.@0$HX|<4W|l@,d<8x4 B4<@KI @P G4A4W,@,X@4 J Yb @4  2 6U @ : A-4ppl@ : -4ookH : 6<0ʳ0/.-0  4W p 640AHAHAH@ :48AHllp@ :44PAUHkko0 240AH0 4W@I T 64Ra9܄܄8p@04 XHX" >Z} "@t<\ l !!\!!4 B>fMo @P GAZ} \@,0d ,4 J  4  2 \{ h@ : ASZppl@ : SZookH : \b0ʳ0/.-0  Z} p 60gngngn@ :8gnllp@ :4RgWnkko0 60gn0 Yfo T 6TDc_ުު@0"P"lhtHX&U"&@<##4%%%&&0&`4 B"|Ud @P G"|A#t%@,##$$H$$4 J#4  l4  2#4  x@! :#4 A{ppl@! :#4 {ookH! :#4 0ʳ0/.-0! #4  !p! 6"|0@! :"|8llp@! :"|4inkko0! 2"|00! 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"  ) 21 Xi Xi Xi Xi 0) +T  0) +T & T) 2+T82pT* 6+T  % \+++,(,h,,-(-h/012T.383h334+ +T_s 0<D""<D|krlr<DhT[U[<D8E8E<DHVcVc<Duu<D%,&,<D(<C=C<D bo%bo%<DAD;3H<;4H<NFDcppcqpSerialLDHUHU split_letterED{Έ{ψsplitEDsplitED"5#5splitBDHPSensorsLVINSerial HPTH0LVIN split_letter(PTH0LVINsplit|pC\T| 6|6 06?8C\KlGd660 6@8  06?8PlK\SlOd6|60 6@8< 06?8ClT|Kt660 6@8006Q8.K?H6d46  2 :2I= 07  8.K? ,7707 7@  47N P/`?t707 1@ H'hG{,7@707  7@< L7 Htp 7 |47 0!7 7<OdX7Xd7 GdA6Ad@71 qo D a47 K HboqD88a 0008  483 H t dows88 8 H 0 483 H w{88  8 H 483 H t d88 8 H 0 483 H 䁇8 8 8 H 483 Htdqowys88 8 H0483 Hqwy{808 8 H0483 Htdqy808 8 Ht0483 Hqy88 8 H48d0Q848|U8p80y{KtK{8ysx xs@81hVv <48 K(GV`69&B000$9TTT493(8(Vvf909T 9(t493(V^Z909 9(t493(8(^fb99T 9(T493(fnj99 9(t493(8(nvr909T 9(T49d0=9T49.p9T'49H0t9H(9tfyf9#4 4D4@@D@91\ͩ 049 Kz͉d,: (00 :\\4:3ݩ:: :#@|4:3@0ݙ::\ :"D\4:3ͩݡ:0: : L|4:3@0͙ݑ:0:\ :T@:1 14: K| ,; (00 ;4;3|p ;; ;|#<4;3| ;; ;|#4;3|p;0; ;|!H<4;3|;0; ;| L@;1|!A Aa4; K<!6,< (00 <\\4<3<@01A 9<<\ <<%,\4<3<1A9<< <<$0|4<3<@0!1 )<0<\ <<\4<3<!1)<0< <88><Njj(',N,'4<1T1p%<(0-Ȭ<1 w<w4<2P2lQ<-<Ԭ<2 0v i386~}B ETfZ =tf;~fE$vÐUTEp~}f;}fffX yf} ETPPzURZ UrfEf Et Ef},T} =Uh)E =tuUÐUfEf Et0fe@E df#EfEXE|ÐfE,f}tEdÐfE%UUKff}F8ЋEy='Ep‹E(-uXE|Ð鍵QM许=tuUÐf}FH 8E$y='Ep‹E(tXE|ÐDžDža(EDžf}F(H Ex='Ep‹E(tXE|ÐDžDž(EDžf},T} =E T=tu,UÐf},T} =@E =tuUÐf}F(Edw='Ep‹E(rXE|ÐDžDž(EDžf},T} =$|E =tuUÐ$f},T} =E =tu(UÐf}F|E%v='Ep‹E(qXE|ÐDžDž1(EDžf},T} =&E =tu<UÐf},T} =l "E w=tuUÐlf}F<|Et='Ep‹E(apXE|ÐDžDžAa(EDžf},T} = E =tuUÐf},T} =LE 8=tudUÐLf}F0'<Es='Ep‹E("oXE|Ð黃P%>?X9t;RZ=tu'UÐ>?f}Fh,0'Er='Ep‹E(6nXE|Ð鋵%6 )}кRZ=~R?уPQYXf},`z ?Zk$QS [YC9`Z;J~B} =D*E  =tuUÐ f}Fкh,Emq='Ep‹E(lXE|Ðf}f}E EZXE|ÐfE,Eg[Ð%%%% % $h%hl%H%HLETPP:zzz z(z0z8z@f}t$fe@tE[YXE|ÐnMTE$8uET ~}A ÐE$j‰UTEpfZ f;}fffX Z‹P f;Y }2k ~}A ÐSnsors RUN USQVW=QPX$$ÐP 2 Y#_^Y[]ÐSnsors VI_ENTRYXEdBXÐElEЋEVf=Ð_^Y[]ÐSnsors GO XE|Ep_^Y[]ÐSnsors RETRY XE|Ep_^Y[]ÐSnsors RESUME t;]Tu ETڋE${iEZ$@X]p=t j$@X]p=t j$@X]p=t Sj11$@X]p=t jaa$@X]p=t iEphRE$8Fg‰UTfJ Epf;~fffH ZP 'hE)_^Y[]ÐSnsors RESET f}fE_^Y[]ÐSnsors DISPOSE U_^Y[]ÐSnsors LOAD _^Y[]ÐSnsors SAVE L$ETP9uEWUEX0uT$@@X_^Y[]Snsors ERRORSTO6V6VQ>9tQRZY=u>^>7J}=_^Y[]ÐSnsors CONSTFOL؋t$=mPX$$ÐUsyFLRX^djpv|̸_^Y[]Snsors DDO_RCHK؉΋|$= APX$$ÐBIPW^elsz_^Y[]Snsors DCO_COPY s= APX$$Ð@m!N{_^Y[]ÐSnsors DCO_DFLTu W Uu W ULPu HW UVu W U%u W U$(u W Ulpu hW Uu W Uau W U08u W USٻ U= $ٻ U=$ٻ U=΋$ٻ U=$ٻ U=$ٻ U=q$ٻ U=R$ٻ U=3$ٻ U=$ٻ U[_^Y[]ÐSnsors ALL_DFLTmtDž]H CaDžeGiDžmKqDžuAyDž}KDžMDž=DžQDžDž(=Dž9DžDžDž5DžDžDžDž1Dž5DžDž |DžDž-!Dž%1)Dž-Dž=<ADžEIDžM)QDžU-YDž]_^Y[]ÐSnsors INIT ?QsO   8}  = W.| m M e9  P ? 4 N    r     fs 'c }D9d?DD VIDSSensorsVIDS split_letterPTH0VIDSsplita1PTH0VIDSSerialPTH0@@??p@@??@@??@@??Z@@??X@@??X@@??Z@@??q 0.2)+-02479;=@BDFIKMPRTVY[]`bdfikmprtvy{}?1.2)+-02479;=@BDFIKMPRTVY[]`bdfikmprtvy{}2.2)+-02479;=@BDFIKMPRTVY[]`bdfikmprtvy{}pA( 3.2)+-02479;=@BDFIKMPRTVY[]`bdfikmprtvy{} 4.2)+-02479;=@BDFIKMPRTVY[]`bdfikmprtvy{} 1x@1HkK1B|13x l@I@I@6@$?? rr5.2)+-02479;=@BDFIKMPRTVY[]`bdfikmprtvy{}(-9A=}|IEy}<15uy ??6.2)+-02479;=@BDFIKMPRTVY[]`bdfikmprtvy{} ??7.2)+-02479;=@BDFIKMPRTVY[]`bdfikmprtvy{} 8.2)+-02479;=@BDFIKMPRTVY[]`bdfikmprtvy{} @iF,:Z@o,:Z@iF,:Z@I@'@@X?N N TTPv`    * P          * P          * P          * P          * P          * P          * P          * P          *P * P  @P0@@@@@@<@2P 0FP4@*P * P      * P       0 0` ````````*P @000000 0 0` ``D``,` ` ``$` ` ``$` ` ``$` ` ``*R2.5.2Created by LabVIEW Pkg. 2.5.2%R2.5.2Created by LabVIEW 2.5.2?!0 ((** hLVINSensors! LVINSeriala 00PTH0 Serial.viLVIN split_letterB000PTH0split_letter.viLVINsplit(00PTH0split.vil8,T0Xx?pR Sensorsd 5tyk_x }   所 HelvSystemHelv0RSRCLVIN2t 2` 4RSIDTREC9STRGlLIfpFPHPLIbdBDHPVICDCPTMLIds DFDS DSTM4versHICONpLIviLVINFTABqx8<8y?<9<|ǟ??>|?x?"dffff?y?~ޏGxq~ޏGxq~ޏGx!<8?<?c1c1c??p33yˏ??ϳ~D<PL' )Pl @ :4PU"kko'  @   )h   | "  &    HXT0@@ : 8˯llp4 J  0 2 0˧@ : 4hmkko0  oʨ @ : Appl, hh0$ 4  2  T 6 jy&@<4@T8T@P G A @4 B Tc @ : žook0   H : 0ʳ0/.-p 6 0˩˩˨HX &1 @ \<4h D 4 d 4 B# d@P GA&1 4@,<| 4 Jh 3'< 4  2h $/ @ :h Appl@ :h &ookH :h $0ʳ0/.-0 h &1 p 60 " " "@ :8 "llp@ :4"kko0 20"0  # T 6U^U^h@ 0  ( DP  H X4&W @T<  X84 B T@I @ P G TA4&W L @,  x ` 4 J  Y'b @4  2 6$U T@ :  A-4ppl@ :  -&4ookH :  6$<0ʳ0/.-0  4&W  p 6 T0A HA HA H@ : T8 AHllp@ : T4AHkko0 2 T0AH0  T@ I T  6 T9UU`@ 0  TH  H X@> @0@< |<|4 B>M @P GA |@,PL4 J   4  2  @ : Appl@ : ookH : 0ʳ0/.-0    p 60@ :8llp@ :4RWkko0 200 Y T 6Tc877@0pH4 n HX<1@"<TdDt4 B<K# @P GA1T@,(\$4 J 3< `4  2 / $@ : Appl@ : ookH : 0ʳ0/.-0  1 p 60"""@ :8"llp0 20"0 W# T 6Ra^^.@0$HX|<4W|l@,d<8x4 B4<@KI @P G4A4W,@,X@4 J Yb 4  2 6U @ : A-4ppl@ : -4ookH : 6<0ʳ0/.-0  4W p 640AHAHAH@ :48AHllp@ :44PAUHkko0 240AH0 4W@I T 64Ra9܄܄8p@04 XHX" >Z} "@t<\ l !!\!!4 B>fMo @P GAZ} \@,0d ,4 J  4  2 \{ @ : ASZppl@ : SZookH : \b0ʳ0/.-0  Z} p 60gngngn@ :8gnllp@ :4RgWnkko0 20gn0 Yfo T 6TDc_ުު@0"P"lhtHX&U"&@<##4%%%&&0&`4 B"|Ud @P G"|A#t%@,##$$H$$4 J#4  4  2#4  0@! :#4 A{ppl@! :#4 {ookH! :#4 0ʳ0/.-0! #4  !p! 6"|0@! :"|8llp@! :"|4inkko0! 2"|00! 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"  ) 21 Xi Xi Xi Xi 0) +T  0) +T & T) 2+T8#,#pT* 6+T $ % \+++,(,h,,-(-h/012T.383h334+ +T_s 0<D""<Dkrlr<DT[U[<D8E8E<DlVcVc<Duu<D(%,&,<D<C=C<Dbo%bo%<DAD;3H<;4H<OFDcppcqpSerialLDHUHU split_letterED{Έ{ψsplitEDsplitED"5#5splitBDHP Light_sensorsLVINSerial HPTH0LVIN split_letter(PTH0LVINsplit|pC\T| 6|6 06?8C\KlGd660 6@8  06?8PlK\SlOd6|60 6@8< 06?8ClT|Kt660 6@8006Q8.K?H6d46  2 :2I= H07  8.K? ,7707 7@  47N P/`?t707 1@ H'hG{,7@707  7@< L7 Htp 7 |47 0!7 7<OdX7Xd7 GdA6Ad@71 qo  a47 K HboqPD88a 0008  483 H t dows88 8 H 0 483 H w{88  8 H 483 H t d88 8 H 0 483 H 䁇8 8 8 H 483 Htdqowys88 8 H0483 Hqwy{808 8 H0483 Htdqy808 8 Ht0483 Hqy88 8 H48d0Q848|U8p80y{KtK{8ysx xs@81hVv 48 K(GVX69&B000$9TTT493(8(Vvf909T 9(t493(V^Z909 9(t493(8(^fb99T 9(T493(fnj99 9(t493(8(nvr909T 9(T49d0=9T49.p9T'49H0t9H(9tfyf9#4 4D4@@D@91\ͩ 049 Kz͉`,: (00 :\\4:3ݩ:: :#@|4:3@0ݙ::\ :"D\4:3ͩݡ:0: : L|4:3@0͙ݑ:0:\ :T@:1 14: K|h,; (00 ;4;3|p ;; ;|#<4;3| ;; ;|#4;3|p;0; ;|!H<4;3|;0; ;| L@;1|!A Aa4; K<!6p,< (00 <\\4<3<@01A 9<<\ <<%,\4<3<1A9<< <<$0|4<3<@0!1 )<0<\ <<\4<3<!1)<0< <88><Njj(',N,'4<1T1p%<(0-Ȭ<1 w<w4<2P2lQ<-<Ԭ<2 0v i386~}B ETfZ =tf;~fE$ÐUTEp~}f;}fffX f} ETPPzURZ UrfEf Et Eff},T} =Uh)E =tuUÐUfEf Et0fe@E5 f#EfEXE|ÐfE,f}tE ÐfE%UUKff}F8ЋE='Ep‹E(UXE|Ð鍵QM]=tuUÐf}FH 8EL='Ep‹E(XE|ÐDžDža(EDžf}F(H E='Ep‹E(FXE|ÐDžDž(EDžf},T} =E |=tu,UÐf},T} =@E =tuUÐf}F(E='Ep‹E(XE|ÐDžDž(EDžf},T} =$|E ==tuUÐ$f},T} =E ޶=tu(UÐf}F|EM='Ep‹E(XE|ÐDžDž1(EDžf},T} =&E =tu<UÐf},T} =l "E 蟵=tuUÐlf}F<|E='Ep‹E(XE|ÐDžDžAa(EDžf},T} = E 迴=tuUÐf},T} =LE `=tudUÐLf}F0'<E='Ep‹E(JXE|Ð黃P%>?X9t;RZ=tu'UÐ>?f}Fh,0'E='Ep‹E(^XE|Ð鋵%6 )}кRZ=~zуPQYXf},`z ?Zk$QS [YC9`Z;J~B} =D*E ,=tuUÐ f}Fкh,E='Ep‹E(XE|Ðf}f}E2]EXE|ÐfE,EÐ%%%% % $h%hl%H%HLETPP:zzz z(z0z8z@f}t$fe@tEXE|ÐMTE$8uET ~}A ÐE$‰UTEpfZ f;}fffX Z‹P f;Y }Z ~}A ÐSnsors RUN USQVW=QPX$$ÐP 2 Y#_^Y[]ÐSnsors VI_ENTRYXEdBXÐElEЋEf=Ð_^Y[]ÐSnsors GO XE|Ep_^Y[]ÐSnsors RETRY XE|Ep_^Y[]ÐSnsors RESUME t;]Tu ETڋE$E$@X]p=t $@X]p=t $@X]p=t {11$@X]p=t ?aa$@X]p=t Ep RE$8F ‰UTfJ Epf;~fffH ZP O E)_^Y[]ÐSnsors RESET f}fE_^Y[]ÐSnsors DISPOSE U_^Y[]ÐSnsors LOAD _^Y[]ÐSnsors SAVE L$ETP9uEUE0uT$@@X_^Y[]Snsors ERRORSTO6V6VQ>9tQR?ZY=u>^fJ}=_^Y[]ÐSnsors CONSTFOL؋t$=mPX$$ÐUsyFLRX^djpv|̸_^Y[]Snsors DDO_RCHK؉΋|$= APX$$ÐBIPW^elsz_^Y[]Snsors DCO_COPY s= APX$$Ð@m!N{_^Y[]ÐSnsors DCO_DFLTu W Uu W ULPu HW UVu W U%u W U$(u W Ulpu hW Uu W Uau W U08u W USٻ U= $ٻ U=$ٻ U=΋$ٻ U=$ٻ U=$ٻ U=q$ٻ U=R$ٻ U=3$ٻ U=$ٻ U[_^Y[]ÐSnsors ALL_DFLTmtDž]H CaDžeGiDžmKqDžuAyDž}KDžMDž=DžQDžDž(=Dž9DžDžDž5DžDžDžDž1Dž5DžDž |DžDž-!Dž%1)Dž-Dž=<ADžEIDžM)QDžU-YDž]_^Y[]ÐSnsors INIT ?QsO   8}  = W.| m M e9  P ? 4 N    r     fs 'c }D9d?DD VIDS Light_sensorsVIDS split_letterPTH0VIDSsplita1PTH0VIDSSerialPTH0@@??p@@??@@??@@??Z@@??X@@??X@@??Z@@??q 0.?1.2.3.4.5.??6.??7.8.@I@I@'@@X?O O TTPv`    * P          * P          * P          * P          * P          * P          * P          * P          *P * P  @P0@@@@@@<@2P 0FP4@*P * P      * P       0 0` ````````*P @000000 0 0` ``D``,` ` ``$` ` ``$` ` ``$` ` ``*R2.5.2Created by LabVIEW Pkg. 2.5.2%R2.5.2Created by LabVIEW 2.5.2!?0 ((** nLVIN Light_sensors! LVINSeriala 00PTH0 Serial.viLVIN split_letterB000PTH0split_letter.viLVINsplit(00PTH0split.vil%R Light_sensorsyk_{h m t  y HelvSystemHelv0RSRCLVIN ` 4RSIDTREC9STRGlLIfpFPHPLIbdBDHPVICDCPTMLIds DFDS DSTM4versHICONpLIviLVINFTAB|px~?qx8~D8>x|?wx|?;88q1c?p8Ǐq???<<<Kf>KfKp (proportional)D>uK>vK3800o]E]E/Choose the port on which the robot is connected<HU/HU/C^uk^vk800O!f"fKd (derivative)Cuv100FPHP Configure ЀFPHP  06  0  dP'KŬCC<PL D>pT,HW4X2@,T4 B< 4 C" X4 J< J4YD <  2< GV0 h@ 2< AENppl@ 2< NXook0 < EX2 0D`<4 \F HH :, @tLz0ʳ0/.-0,2@P;N@>@ 2, DkNrook0 , ;rN @ 2, A;kDrppl,|Hl4  2, =tL 4 B, =Lg \   L @P[0nL@V,x `4 B  ]0lg 4  2 ]tl L@ 2  A[kdrppl@ 2  dknrookH :  `tlz0ʳ0/.-0  [rn  0 4 J  ,  Lp@ P L|  <@n,   D 4 Bp ~ g \4  2p ~t @ 2p A|krppl@ 2p krookH :p tz0ʳ0/.-0 p |r  0  | p b p ,  L 0<Dt<D%s&sFDKfLfSerialBDFESPFFSPA,CD6cCu6dCu%d,DD6C6C%d\n<Dpť<DԱձCD6C6C%d,<BDHP ConfigureLVINSerialPTH0 BDHPl0 `l 'tK<,  D(0 0 @ (4$04 B4 B$t0@h#C3d8LIlolIl<<Lht ((%4<lii||4Lx0= 4Q̬ ($N994Ih|o3o4\Apd|`|l<<@1 Jj, xm4 KJgT4 \U LD8a 000 L L L L 43 0 JRN L  L43 RZV  l 43 0 Zb^ L  L43 bjf   l 43 0 JRN L  ( L43 RZV0  l43 0 Zb^0 L  L43 bjf  l , l4/Ldg LL040ltw| |0400dwtlL 40ltgw|o h|0400dgtwloL 84/d @@ l40l$t|0 l`40ldtl0@ l`p40l$t| l``40ldtl0@0QpC@VS @4  2 EDTQ t0  C@VS ,&0 @8p0Q3^Fx4h4  2 5bDv 0  3^Fx ,*0 @0Q3F@\4  2 5D 0  3F ,.0 @4l0!L40!L4t0!4/@d `<<  `40  t|À@0@dВ4 B,`D$z00@` Lpҡ4 BpӲd<p$0`  \$40 dtlÀ0<  d40  t|  \40 dtl0EKEXE|ÐfE,EJÐf}t$fe@tEXE|ÐMTE$8uET ~}A ÐE$c‰UTEpfZ f;}fffX ZP f;Y } ~}A ÐCnfigurRUN USQVW=QPX$$ÐP?W r_^Y[]ÐCnfigurVI_ENTRYXEdWXÐ ElEЋE]f=Ð_^Y[]ÐCnfigurGO XE|Ep_^Y[]ÐCnfigurRETRY X!E|Ep_^Y[]ÐCnfigurRESUME t;]Tu ETڋE$鬋E$$@X]p=t 9Ep RE$8F2‰UTfJ Epf;~fffH Z½P E)_^Y[]ÐCnfigurRESET f}fE_^Y[]ÐCnfigurDISPOSE U_^Y[]ÐCnfigurLOAD _^Y[]ÐCnfigurSAVE L$ETP9uEUE-0uT$@@X_^Y[]CnfigurERRORSTO_^Y[]ÐCnfigurCONSTFOLwmmccYYO؋t$= =PX$$Ð%̸_^Y[]CnfigurDDO_RCHK؉΋|$=)PX$$Ð*18?_^Y[]CnfigurDCO_COPY=)PX$$Ð(U_^Y[]ÐCnfigurDCO_DFLTu W Uu W Uu W UVu W U%Sٻ U=R$ٻ U=3$ٻ U=$ٻ U[_^Y[]ÐCnfigurALL_DFLTmtDži3mDžq7uDžy;}Dž-Dž;Dž=Dž/DžADž_^Y[]ÐCnfigurINIT ?Qs?oKB + E Y s  q  +ER % a i   y  } (<VIDS ConfigureVIDSSerialPTH0nA,%d,%d\n d%d,P2`     0 0 0             0` 00`0`0`` ` ` ` ``D`*R2.5.2Created by LabVIEW Pkg. 2.5.2%R2.5.2Created by LabVIEW 2.5.2@RTTXrTJTJRJRr}@BE@BEKŎH E@ EX:}HJHJHJ\:@LVIN Configure(LVINSeriala 00PTH0 Serial.vilPT(pR Configure3yk_hx }   所 HelvSystemHelv0RSRCLVIND D`` 4RSIDTRECSTRG`LIfpFPHPLIbdBDHPVICDCPTMLIdsDFDSDSTM(versȠ͡ʁ ̢.ˆ ,,,,̀΢~,̈ ,̀b~,Ϣ~x,,,h,( ~33333ʀ ‚ ,΢~,,,,, 0 8蠪  01<|;xw#~D?px8x<<<<<<<M[>NX峳/Choose the port on which the robot is connectedTP\(|l| \ 0 ?\ld  0 @`0 ?0L\'l#d \ 0 @0 ?l(|t  0 @ |0 Q .?( Dx4  2 2= 0  .? , & 0  @`4 N $/4?T p0 1 ' 443BJF0 4h0 P4d  @MsL Ls-++66,4 @ `,<44:M:0@$K[S4 BAASS F i386~}B ETfZ =tf;~fE$ÐUTEp~}f;}fffX Pf} ETPPz4RZ 4rfEf Et Eh[f},T} =4|E 茯=tuUÐ4fEf Et0fe@Ef#EfEXE|ÐfE,f}tE9ÐfE%44*ff}FЋER='Ep‹E(XE|Ð鍵0,NR=tup UÐf}FE='Ep‹E(?XE|ÐDžDž@(EDžf}FEC='Ep‹E( XE|ÐDžDž(EDžf},T} = ܺE =tuHUÐ ܥf},T} =$E 蕬=tuUÐf}FкE='Ep‹E( XE|Ðf}f}EWEcXE|ÐfE,EÐ%؉%؍܍ ETPP: zf}t$fe@tE$XE|Ð^MTE$8uET ~}A ÐE$ ‰UTEpfZ f;}fffX Z´P f;Y } ~}A ÐGt_posiRUN USQVW=QPX$$ÐP?f~lE_^Y[]ÐGt_posiVI_ENTRYXEdBXÐElEЋEf=Ð_^Y[]ÐGt_posiGO XE|Ep_^Y[]ÐGt_posiRETRY XE|Ep_^Y[]ÐGt_posiRESUME t;]Tu ETڋE$D E$@X]p=t  $@X]p=t X Ep+ RE$8FQ ‰UTfJ Epf;~fffH Z\P E)_^Y[]ÐGt_posiRESET f}fE_^Y[]ÐGt_posiDISPOSE U_^Y[]ÐGt_posiLOAD _^Y[]ÐGt_posiSAVE L$ETP9uE8UEL0uT$@@X_^Y[]Gt_posiERRORSTOԋ6VЋ6V0>9tQR蔆ZY=u>^J}=_^Y[]ÐGt_posiCONSTFOLe[[QQG؋t$=5PX$$Ð̸_^Y[]Gt_posiDDO_RCHK؉΋|$=%PX$$Ð&-4_^Y[]Gt_posiDCO_COPY=%PX$$Ð$Q~_^Y[]ÐGt_posiDCO_DFLTu W U܍u W Uu W UVSٻ U=3$ٻ U=$ٻ U[_^Y[]ÐGt_posiALL_DFLTmtDž<"@DžD&HDžL*PDžT XDž\*`Džd,hDžlpDžt0xDž|DžDžDž DžDžDž_^Y[]ÐGt_posiINIT ?QsO   8}  = W Ie=J % }g 9 ? (jVIDS Get_positionVIDS split_letterPTH0VIDSSerialPTH0NH H P+`     0 0        ```000 0 0` ``D``,` ` `*R2.5.2Created by LabVIEW Pkg. 2.5.2%R2.5.2Created by LabVIEW 2.5.2рр|@@     @@LVIN Get_position(LVINSeriala 00PTH0 Serial.viLVIN split_letterB000PTH0split_letter.vi `t9R Get_positionyk_x }   所 HelvSystemHelv0RSRCLVIN8T 8` 4RSIDTREC STRGLIfp$FPHP8LIbdLBDHP`VICDtCPTMLIdsDFDSDSTMversICONLIviLVIN(FTAB3Ȁ ‚ ,b~,j.j.̂ˆH΢~̀.ʀ ‚b~,,,h,( ̈Ƞ͠ ʀ B ,΢~,,,,h,( 8 00 jj<Ȁ|<p p H LΈ$̬΂~3333( ( ( ̀ ̀p̌΂~Ȁ Ā@*̈H H ̈H H ̈H H ̈ H ̈Hḧ Ḧ H ̈H H ̈ °̈ Ḧ Ḧ Ḧ ḦȠ* ̌̌Ġ ̡̌` ̌Ġ` ̠̌` Ȁ ,̂ ̌Ȁ ,̂ ̌Ȁ ,̂ ̌H   ̀  (̀(  ̀ ̪ʈ,L|Ǐ?xxqs?~Ǐww?x8c~x?"8>Gq?DZ?~<<<<<4 B IXt @ 2 P~Zook0  GZ H : LX0ʳ0/.-02dT\    T@Ph{h@V,<|4 B( jyt x4  2( jy @ 2( Ah~qppl@ 2( q~{ookH :( my0ʳ0/.-0 ( h{  0 4P(J  , TD 0<D<D8>?FDKfLfSerialBDAENQAFNQG,CD?nL?oL%d,DD>K>K%d\n<D@BDHP Set_positionLVINSerialPTH0BDHP(0|'L( 'tvq<,   0 H0 @X%04 B0 @DTd<\L4 Bd=D< , iddyy< DX0@ VyyV 0iDD4 x, d 4 $ @ 1$JjH(TD4 KJg4 80 XNN  (D 8a 000 (( ( ( 4 3 JRN  ( (4 3|RZV   H4 3 Zb^  ( (4 3|bjf    H4 3 JRN   ( X (4 3 |RZV 0   H 4 3 Zb^ 0  (  (4 3 |bjf    H ,  H4 / (axH  ( ( 04 0 Hqy    X  04 0 aqi  (    4 0 Hqxy   D Xd 04 0 axqi  (  @ 4 / |aށH    H 4 0 H qy 0   H0<4 0 Hpaqi 0   H4 0 Hqށy    H< 4 0 Hpaqi 0 0 QL>@QT 4  2 @DOR 0  >@QT ,x&0 @@L0QtmM 0  EcE%iXE|ÐfE,EiÐf}t$fe@tETiXE|Ð~MTE$8uET ~}A ÐE$z‰UTEpfZ f;}fffX ZDP f;Y }+{ ~}A ÐSt_posiRUN USQVW=QPX$$ÐP18PY_^Y[]ÐSt_posiVI_ENTRYXEdPXÐElEЋEff=Ð_^Y[]ÐSt_posiGO XdE|Ep_^Y[]ÐSt_posiRETRY X(E|Ep_^Y[]ÐSt_posiRESUME t;]Tu ETڋE$fy鬋Ej$@X]p=t zEpyRE$8Fx‰UTfJ Epf;~fffH ZP yE)_^Y[]ÐSt_posiRESET f}fE_^Y[]ÐSt_posiDISPOSE U_^Y[]ÐSt_posiLOAD _^Y[]ÐSt_posiSAVE L$ETP9uEhUEi0uT$@@X_^Y[]St_posiERRORSTO_^Y[]ÐSt_posiCONSTFOLe[[QQG؋t$=5PX$$Ð̸_^Y[]St_posiDDO_RCHK؉΋|$=%PX$$Ð&-4_^Y[]St_posiDCO_COPY=%PX$$Ð$Q~_^Y[]ÐSt_posiDCO_DFLTu W Uu W Uu W UVSٻ U=3$ٻ U=$ٻ U[_^Y[]ÐSt_posiALL_DFLTmtDž@DDžHLDžPTDžX\Dž`dDžh lDžptDžx$|Dž_^Y[]ÐSt_posiINIT ?QsG#z l  [  5mw >D$  &g ' } (@VIDS Set_positionVIDSSerialPTH0RG,%d,%d\nP(`     0 0 0        ` 00`0`` ` ` ``D`*R2.5.2Created by LabVIEW Pkg. 2.5.2%R2.5.2Created by LabVIEW 2.5.2́Pрр|@@     @@LVIN Set_position(LVINSeriala 00PTH0 Serial.vi { FApple LaserWriter II NTX VD[ od,XZZe(p4\ R Set_positionyk_h ʽ   ɀ HelvSystemHelv0RSRCLVIN9 8` 4RSIDTRECSTRGLIfpDFPHPXLIbdlBDHPVICDCPTMLIdsDFDSDSTMversICON LIvi4PRT HLVIN\FTABp< t  d D 8 , P \ HlP5  X' 44 xA%N3x[3h3u485h5DX5px5678, Set_position Set_position Set_position Set_position Set_position Set_position Set_position Set_position Set_position Set_position Set_position Set_position Set_position Set_position Set_position Set_position Set_position (́Pрр|@@     @@";X08Ƞ X0?88 xȨ p~ p>Ƞ͡ʁ ̢.ˆH ,,,,̀΢~,̈ ,̀b~,Ϣ~x,,,h,( ~33333ʀ ‚ ,΢n,,,,, 0 8蠪 8 01<|;xw#~D?px8x<<<<<<<M[>NX峳/Choose the port on which the robot is connectedT4\(|P` @ h0 ?\ld  0 @Dh0 ?0\'l#d @ 0 @d0 ?l(|t  0 @ (`0 Q .>  (\4  2 2< ,0  .> , & 0  @D4 N $/4?8 T0 1 '  l43 0 BJF0L  L4H0 L4  xMsL Ls-++66,l x (Dd,@ < @L4,l:M:0@$K[S$4 BAASS 0F i386~}B ETfZ =tf;~fE$ÐUTEp~}f;}fffX f} ETPPz4RZ 4rfEf Et Eff},T} =4|E =tuUÐ4fEf Et0fe@E5 f#EfEXE|ÐfE,f}tE ÐfE%44*ff}FЋE='Ep‹E(UXE|Ð鍵0,]=tu UÐf}F@EL='Ep‹E(XE|ÐDžDž@(EDžf}F @E='Ep‹E(FXE|ÐDžDž(EDžf},T} = ܺE |=tuHUÐ ܥf},T} =$E =tuUÐf}Fк E='Ep‹E(XE|Ðf}f}E)cEXE|ÐfE,EÐ%؉%؍܍ ETPP: zf}t$fe@tEXE|ÐMTE$8uET ~}A ÐE$1‰UTEpfZ f;}fffX Z´P f;Y } ~}A ÐGt_veloRUN USQVW=QPX$$ÐP?f~lE_^Y[]ÐGt_veloVI_ENTRYXEdBXÐElEЋE@f=Ð_^Y[]ÐGt_veloGO XE|Ep_^Y[]ÐGt_veloRETRY XE|Ep_^Y[]ÐGt_veloRESUME t;]Tu ETڋE$E$@X]p=t $@X]p=t EpRE$8F‰UTfJ Epf;~fffH Z\P ,E)_^Y[]ÐGt_veloRESET f}fE_^Y[]ÐGt_veloDISPOSE U_^Y[]ÐGt_veloLOAD _^Y[]ÐGt_veloSAVE L$ETP9uEUE0uT$@@X_^Y[]Gt_veloERRORSTOԋ6VЋ6V0>9tQRZY=u>^CJ}=_^Y[]ÐGt_veloCONSTFOLe[[QQG؋t$=5PX$$Ð̸_^Y[]Gt_veloDDO_RCHK؉΋|$=%PX$$Ð&-4_^Y[]Gt_veloDCO_COPY=%PX$$Ð$Q~_^Y[]ÐGt_veloDCO_DFLTu W U܍u W Uu W UVSٻ U=3$ٻ U=$ٻ U[_^Y[]ÐGt_veloALL_DFLTmtDž<@"@DžD&HDžL*PDžT XDž\*`Džd,hDžlpDžt0xDž|Dž DžDž DžDžDž_^Y[]ÐGt_veloINIT ?QsO   8}  = W Ie=J % }g 9 ? (jVIDS Get_velocityVIDS split_letterPTH0VIDSSerialPTH0NE E P+`     0 0        ```000 0 0` ``D``,` ` `*R2.5.2Created by LabVIEW Pkg. 2.5.2%R2.5.2Created by LabVIEW 2.5.20(1`    ` LVIN Get_velocity(LVINSeriala 00PTH0 Serial.viLVIN split_letterB000PTH0split_letter.vi@`T\lhHXR Get_velocityyk_{h m t  y HelvSystemHelv0RSRCLVIN7`T 7@` 4RSIDTREC STRGLIfp$FPHP8LIbdLBDHP`VICDtCPTMLIdsDFDSDSTMversICONLIviLVIN(FTAB<   8( , X p \ P P448 ' 4 A#N2d[2h2$u3L4<4l456 6 Get_velocity Get_velocity Get_velocity Get_velocity Get_velocity Get_velocity Get_velocity Get_velocity Get_velocity Get_velocity Get_velocity Get_velocity Get_velocity Get_velocity Get_velocity Get_velocity (0(1`    ` TȠ 0X 0?ؠ 0 Ƞ 0X 0ؠ   | 0 xȨ ȇp~( p>3b~,Ȁ ‚Ϣ~x̀.̂.ˆʀ ˆb~, ,,,,h, ʀ ˆb~,H ,,,,h,( Ȁ b~,̂̢! h ( b~,̢﮺̂ ̀b~,(, ~   00 0800蠮8?00 !x p( ΀̀ ʀ ̪ʈ,̼ς~̺ʈ,̬΂~ ,Έ,΂~Ƞ/ L쀈 ΀ ̀ H ̪̀p̌΂nZ*̠̌ ̠ ̡̌ ̌ Ȁ  ̌ḦȀ (̈̈Ȁ  ( ` ̈̌H (̈x ḦĠ/ ̌ H ̰ ̈  ̌ ̂ ̌ ̀  ΂ ̌   ̌Č  ḦȀ⊀ h h ̀̌   ̌̂(̈(̈̈  °̈ Ḧh Ḧ ̌Ȁ̈( ̈(̈̈ ̈Ȁ (̬̈̈* ̈΂~J*̡̌ ̠̌ ̠̌  ° HL̈L ̌ ̀ ̌@  ̈ ̈Ḧ( ̈ ̌̈ / ̌ ̀H (̈̈(̈̈ ̈Ȁ ̀ ̈ ̌ ((̈(̈̈033 Ḧ. ̈̌̈  ̌̈. ̈,̌ ̌ ̌ ̌ Ȁ Ȁ Ȁ HL H ̈ ∂ ̌ ((∈̀ Ȁ̈( ̌ (/ ̈ € ̈, ̀̂⊀ ,Ḧ̈̌ ̀ ( °̌ ̌` L` ̌ ̀( Ȁ ( °̌ ̌` ̌` ̌ °̈ ḦȀ Ȁ ((  °̰̌ ̰̌` ̰̌` ̌ Ȁ ( °̈ Ḧ̈ ̀L  ̀ (D+ Ȍ̰ ̱̌` ̌@ ̰̀̀€ ̈Ȁ ΢~ ̂̢. ̌@ ̀ @ ̀ |Ǐ?xw;;x<8<y?;xw9G8yϟ9?O8xy'~C8p< '<xp<?9>qs?~8pp<އs88xx?|<8~?p33333p|<>???qGx#<;?~<>qqc1c~x?""q|8ޏ?yϏq?DZ?~<p<,O<yyxyyx'1133333333333333333333333333333333333333333333333333333333333333333333333333333333323333333333333#33333333333#33333@*<2<(bUUU******#ߟ+ >pwwwww?hh(X|||||||||||||x || | |||RSRCLVIN, D7$D87%D8PortAMLZZMMZZ0Port 0Port 1O܍܎޳Characters Read@S邎鳳Characters to WriteAFF0xnn8Time to wait between two reading of the serial port (ms)DFF1000LPP Timeout (ms)7x7xRRSA device connected to a serial port can be read from and written to using this VI either the serial port. Type in the characters to be written, and run the VI. The VI will write the data first then read from the port. Before using this VI you should initialize the serial port according to the device's specification with the "Set-up" VI.<4JWFJWF@*G񳳳Timeouto`z`z///Choose the port on which the robot is connectedFPHPSerialFPHPL0D ph,':qx+<PL < x\  h 4 Jx LK[[ 4 Bx 6#E9 HW6ZI@<  2x IXG `,D(h@ 2x AGPppl0 x GZI @ 2x PZook04xT4 6y @PTQ D@f4 Bx Q 4  2x G ,L@ 2x Appl@ 2x ook0 x I H :x 0ʳ0/.-0xZ@Poh@"4 B o 4  2 G $, 4D@ 2 Appl@ 2 ook0  I H : 0ʳ0/.- 0 z 0 Q L 4 B  4 2  0   p 7+ ААА, L0  | &  0, T L 8 0 Q 8ی- ,  0 d 4 B  ی 4 2 + p 7 + +++0  - 0 h 6,00O   D4 C  0 N  W鳳W鳳X鳳W鳳X 4 _{ <   8 LTD T      L 8 0<D<DBOBO <D<DPQ<DWrWq<D"t/"u/QDȔɔSerial Port WriteDAeNAfNBWait before read, then read characters until finding CR or timeoutTDBytes At Serial PortPDABSerial Port ReadAD1ADP*WQ*W0BDHPSerialLVINSerial Port Write`PTH0LVINSerial Port Read+PTH0LVINBytes At Serial PortPTH0P0BDHPP(0P/OP(('y8<,.0\,0* 0@T&4 BTH0@ ?T0@84 BAP 0@ FxL4 J 0@ < LOo_4 BOT,X N@00@ O 8$v؆~\4 B,Vs0@ 1 =0s@84 B!s0L)@,1v \67l\x , <``0D@1ǵ4 K`Ǖ*0xx43`\L׵x `x43`̥ǵ׭0 ` <43`\Lǥםx `xT4(T 0*4P174 L | 3$:3|04 x T @T4 p04403$ lM WRt 0- Ԓ  ,Ll H 0 (  T4 @dO, L,M 3$1 8 T!FLT^(ZX @ x \fff l Jh x, D6F70 x6D#t0$ <DTL L @ L0% DTL  @ ; l|4N hxdv80 1 p]},  F0 @ $hL, x"h n(<0X,"0X!D,P41T!l+)\+)\0"H 0.  8 | l| @|,MH , l403$,MWRt 3$!4 x'x0 40>?P%ZU40E` ҧ4N `04X803($ P40- |  00 1h ~, Lhv $ l-$ @%4$4H4/ xIiD040(Yf_D 0`040dMYS &0tĬ <_ >104 xdlh   l.,  @ 4" Td| 48 L "    @  @1 x $<44 K *hh43L<μh h43̶ P43L<h hp 4/ xܫ]40`| ,|40  E`Fx44 x4 |84 x "t  ! @ 1 ` P 0-!!  !"("t "#@!0 !P,,!($ l.|!P,L"((D @P!P,8l"t(d4/ x#>| !),/0@040" h#0.>6|8( #PzÀ#$D$d#4' $$4z#t$$0  &0#t$ @ O#t$  %4#$ @ $#$4$%h0!$ @)\-)4 x&&d03$m$4 x'403%4 (d$D0-'\P$~($(D(dR66 ',$ l4H',$ @&0',$, !P',,,T-0d00140")!.&|), "0`(8>){n +*%* *0?)\)){n~v0% @)\/*,,00?)\*l*\n~v0* @)\4H**0?)\**{~0*)*,@1++\@` l-Dd4 K+@T +,0,-0 +++43+,,P`X+ +/,P,043+,,P`X0,0 +.|,"t43+--@PH, +.,-P-043+--@PH-0, (04./03%4.`0L-04.1"(,40"/)L.&|/ "./40"//<.&|482x00@p-v v "6/L6$4 x170p.,H H D),4 x18t0!,4H.|.,-/ 4 x1@4 =\.|H   " KJhI/vXv4/ x3XGgQt|  403$`3tW b\t@P535@45t44  03  844|0*(D0 33  &0SH :3 0ʳ0/.-, 653r6$ @ 656$< L d$D$6$ 2X4 x67!6$0@L "3$E`B8<>9 6&&0`& _ 1 R4/ x9Tr%b9:P: 409 99pb9 9 ;9| 409 :49v |b:P 9 ?: 409 ::pv|b: 9 ::|4 x;$;@ |:Ь:|\|4 x< << 9 Ȭ;L4/ x=#&CFXOr=>> 40<=|=8)6>A3;r= <1=H=40<==3,>681r> |>8),36.1r> 
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