MODULE modVisionSimulator
PERS wobjdata wobjPickPos:=[FALSE,TRUE,"",[[100,-140,832.499],[4.5017E-17,0.707107,0.707107,4.59278E-16]],[[17,-82.0115,0],[0.473135,0,0,-0.88099]]];
TASK PERS wobjdata wobjPickPosStatic:=[FALSE,TRUE,"",[[100,-140.000000000001,832.49890136719],[4.50170397023425E-17,0.707106781186548,0.707106781186547,4.59278319577846E-16]],[[0,0,0],[1,0,0,0]]];
PERS bool bWobjCalculated:=FALSE;

PROC main()
bWobjCalculated:=FALSE;
WHILE TRUE DO
	WaitDI diSensorC1,1;
	CalculateWobj;
	WaitDI diSensorC1,0;
	bWobjCalculated:=FALSE;
ENDWHILE
ENDPROC

PROC CalculateWobj()
wobjPickPos:=wobjPickPosStatic;
wobjPickPos.oframe.trans.x:=aiXpos;
wobjPickPos.oframe.trans.y:=aiYpos;
wobjPickPos.oframe.rot:=OrientZYX(aiZori,0,0);
bWobjCalculated:=TRUE;
ENDPROC
ENDMODULE