N@Network Collection Controller
I@GSync SelfPos Data1 Data2 Data3 Data4 Self Active Pulser Time
O@XG YG ZG Go Strength Grab Time Pulserate Off
Self==1 -> Xoff=0,Yoff=-30,XG1=recv(Data1,1),YG1=recv(Data1,2),ZG1=recv(Data1,3),Off=recv(Data1,4);
Self==2 -> Xoff=0,Yoff=30,XG1=recv(Data2,1),YG1=recv(Data2,2),ZG1=recv(Data2,3),Off=recv(Data2,4);
Self==3 -> Xoff=30,Yoff=0,XG1=recv(Data3,1),YG1=recv(Data3,2),ZG1=recv(Data3,3),Off=recv(Data3,4);
Self==4 -> Xoff=-30,Yoff=0,XG1=recv(Data4,1),YG1=recv(Data4,2),ZG1=recv(Data4,3),Off=recv(Data4,4);
BaseX=recv(GSync,1),BaseY=recv(GSync,2),BaseZ=recv(GSync,3)
SelfX=recv(SelfPos,1),SelfY=recv(SelfPos,2),SelfZ=recv(SelfPos,3)
Strength=10000, Grab=0
Pulserate=0.5
Zoff=120
Zoff1=60
ZGPSoff=Zoff+14.643
Time==1 -> Grab=0,Go=0;
Time==2 & Off==1  -> XG=XG1,YG=YG1,ZG=ZG1+Zoff1,Go=1;
Time==3 & Off==1 -> Grab=1,Go=0;
Time==4 & Off==1 -> XG=BaseX+Xoff,YG=BaseY+Yoff,ZG=BaseZ+Zoff,Go=1,Grab=1;
