robot.fps

LengthOK(const max_length,length_0_0,length_0_1,length_1_0,length_1_1,length_2_0,length_2_1,length_3_0,length_3_1,length_4_0,length_4_1,out bits_ok, out_reg length)
descr.en Uses length_*_1 bits as a binary coded value of 
descr.en length (in 100 mm increments) and chacks that it is 
descr.en less than max_length.
descr.en
descr.en For each length_* bit, either length_*_0 or length_*_1
descr.en has to be connected, but not both.
{ 
  !Result = length_ok
  !r = encoded
  !m = tmp1
  !m = tmp2

  ; Check that each length bit is either 0 or 1
  tmp1 = (length_0_0 + length_0_1) * (length_1_0 + length_1_1) * (length_2_0 + length_2_1) * (length_3_0 + length_3_1) * (length_4_0 + length_4_1)
  tmp2 = (length_0_0 * length_0_1) + (length_1_0 * length_1_1) + (length_2_0 * length_2_1) + (length_3_0 * length_3_1) + (length_4_0 * length_4_1)

  bits_ok = tmp1 * /tmp2

  ; Calculate encoded length (in 100 mm increments)
  (encoded=0)
  (encoded+=100) = length_0_1
  (encoded+=200) = length_1_1
  (encoded+=400) = length_2_1
  (encoded+=800) = length_3_1
  (encoded+=1600) = length_4_1
  (length=encoded)

  ; Length is OK if all bits are correctly wired and the
  ; encoded length is less than the maximum length
  Result = bits_ok * (length < max_length)
}