First working implementation

- Currently only with one sided gripper

PLC/POUs/Stations/FB_Robot.TcPOU

@@ -0,0 +1,71 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1">
+  <POU Name="FB_Robot" Id="{dc28987f-6f20-437a-aca7-b51d3eb98f94}" SpecialFunc="None">
+    <Declaration><![CDATA[FUNCTION_BLOCK FB_Robot EXTENDS FB_BaseTransport
+VAR_INPUT
+END_VAR
+VAR_OUTPUT
+END_VAR
+VAR_IN_OUT
+	fbScheduler : FB_Scheduler;
+END_VAR
+VAR
+	_tonTransportDone : TON;
+	_timTransportTime : TIME := T#5S;
+	
+	_itfSourceStation : I_Station;
+	_itfTargetStation : I_Station;
+	
+	_iFlowRecIdx : INT;
+	
+	_iState : INT;
+END_VAR
+]]></Declaration>
+    <Implementation>
+      <ST><![CDATA[CASE _iState OF
+	// Idle, check for new transport job
+	0:
+		IF fbJobQueue.M_GetHighest(stJob => _stTransJon) THEN
+			_xAvailable := FALSE;
+			
+			// Get station interfaces
+			_itfSourceStation := fbScheduler.M_GetStation(_stTransJon.uiFromStation);
+			_itfTargetStation := fbScheduler.M_GetStation(_stTransJon.uiToStation);
+			
+			_iState := 10;
+		END_IF
+		
+	// Move to pickup station
+	10:
+		_tonTransportDone(IN := TRUE, PT := _timTransportTime);
+		IF _tonTransportDone.Q THEN
+			_tonTransportDone(IN := FALSE);
+			
+			// Get product from station
+			_iFlowRecIdx := _itfSourceStation.M_RemoveProduct();
+			
+			_iState := 20;
+		END_IF
+		
+	// Move to drop station
+	20:
+		_tonTransportDone(IN := TRUE, PT := _timTransportTime);
+		IF _tonTransportDone.Q THEN
+			_tonTransportDone(IN := FALSE);
+			
+			// Put product into station
+			_itfTargetStation.M_InsertProduct(_iFlowRecIdx);
+			
+			_iState := 30;
+		END_IF
+		
+	// Release all station reservations
+	30:
+		_itfSourceStation.M_Release(uiHandle := _stTransJon.uiFromStationHandle);
+		_itfTargetStation.M_Release(uiHandle := _stTransJon.uiToStationHandle);
+		_xAvailable := TRUE;
+		_iState := 0;
+END_CASE]]></ST>
+    </Implementation>
+  </POU>
+</TcPlcObject>