//this program is generated with ./shapepath.py
//cfg = {"sequencer": ['gen_grid_points(w=20,h=20,pitch=50,rnd=0.2)', 'sort_points()','gen_prog(file="'+fn+'.prg")
//then modifiing start and end to not use gathering and to make a loop

open plc 1
Coord[1].DesTimeBase=0       // freezes timebase at boot
while(1)
{
  if(PowerBrick[0].GpioData[0].0.1==1)
  {
     PowerBrick[0].GpioData[0].16.8=255
     Coord[1].DesTimeBase=Sys.ServoPeriod
  }
  else
  {
    PowerBrick[0].GpioData[0].16.8=7
     Coord[1].DesTimeBase=0
  }
}
close

open prog 2
N0:
linearabs
X505.488Y7.15189
dwell10
pvt10abs
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X1255.68:-5085.89Y952.466:-4.95397
X1204.25:-5132.01Y951.076:-85.5989
X1153.04:-5161.12Y950.754:24.3828
X1101.02:-4730.67Y951.564:371.337
X1058.43:-4981.67Y958.1799999999999:135.261
X1001.39:-5032.34Y954.269:13.1008
X957.782:-4842.99Y958.442:33.5267
X904.5309999999999:-4927.71Y954.9400000000001:-275.079
X859.228:-5118.32Y952.941:-163.955
X802.165:-5123.53Y951.66:-24.5936
X756.7569999999999:-4625.15Y952.449:312.916
X709.6609999999999:-4841.9Y957.919:65.9259
X659.919:-5042.73Y953.7670000000001:76.5736
X608.807:-5273.65Y959.45:-20.3195
X554.446:-5010.95Y953.361:-243.262
X508.588:-2292.9Y954.585:61.2005
X508.588:0Y954.585:0
X508.588Y954.585
dwell10
goto 0
close