#define MAX_X	800
#define MAX_Y 800

main()
{

do
{

  auto=gvarget(501);	//Automatic mode

  if (auto)
  {

    do { rect_not_ready=gvarget(7369); }while(rect_not_ready==0);

    left_right=1;
    xmax=gvarget(7350);
    if (xmax>MAX_X){ left_right=0;};
    ymax=gvarget(7351);
    if (ymax>MAX_Y){ left_right=0;};

    gvarset(502,left_right); //502 - shows both sides or single side
    LR=gvarget(500);

    if (LR==0) //left
     {
//       gvarset(9100,1);	//show message #1
       //do{ a=portget(11); }while(a==0);	//press pedal, port 11
       //do{ a=gvarget(6065); }while(a!=0);	//press pedal, port 11
//       gvarset(9100,0);  //clear the message

       portclr(10);//Vacuum Left OFF
       portset(9); //

       portset(11);//
       portset(22);//

//       gvarset(9101,1); //show message #2
       //do{ a=portget(13); }while(a==0);	//press pedal, port 13
//       gvarset(9101,0); //убрать

       portset(10);//Vacuum Left
       portclr(9); //
       timer=5; do{ timer--; }while(timer>0);	//wait 0.5 seconds while the vacuum is working

       portclr(11);//выключить упоры
       portclr(22);//

////
//ждать пока УП завершится
       do{ a=gvarget(6065); }while(a!=0);	//wait
////


do {
      do{ a=gvarget(6065); }while(a!=0);	//wait for the system to be ready
      gvarset(100010,54);	//Дать код G54
      timer=5; do{ timer--; }while(timer>0);	//wait 0.5s for the system to switch
			n=gvarget(5220);//gets the current coordinate system number
		} while(n!=1);	//while the current system is not G54

       do{ a=gvarget(6065); }while(a!=0);	//wait for the system to be ready
       gvarset(100001,1);	//go to the beginning of the program
       timer=5; do{ timer--; }while(timer>0);	//wait 0.5s
       do{ a=gvarget(6065); }while(a!=0);	//wait for the system to be ready
       gvarset(100002,1);	//start the program
    }else	//right 
    {
//       gvarset(9110,1);	//show message #1
//       do{ a=portget(12); }while(a==0);	//press pedal, port 11
//       gvarset(9110,0);  //clear the message

       portclr(15); //Vacuum Left OFF
       portset(16); //

       portset(14); //
       portset(23); //

//       gvarset(9111,1); //show message #2
//       do{ a=portget(14); }while(a==0);	//press pedal, port 13
//       gvarset(9111,0); //clear

       portset(15); //Vacuum Left
       portclr(16); //
       timer=5; do{ timer--; }while(timer>0);	//wait 0.5 seconds while the vacuum is working

       portclr(14);//
       portclr(23);//

////
       do{ a=gvarget(6065); }while(a!=0);	//wait
//wait until the control program is finished
////

do{
      do{ a=gvarget(6065); }while(a!=0);	//wait until the program is ready
			gvarset(100010,55);	//assigns G54 coordinate system
      timer=5; do{ timer--; }while(timer>0);	//wait 0.5 seconds while the coordinate system switch is happening
			n=gvarget(5220);//obtain the current coordinate system number
} while(n!=2);//while the system is not G55

       do{ a=gvarget(6065); }while(a!=0);	//wait while the processor is busy
       gvarset(100001,1);	//return to the beginning of the program
       timer=5; do{ timer--; }while(timer>0);	//wait 0.5 seconds
       do{ a=gvarget(6065); }while(a!=0);	//wait for the system to be ready
       gvarset(100002,1);	//start the program

    };

       timer=20; do{ timer--; }while(timer>0);	//3 second pause
       do{ a=gvarget(6065); }while(a!=0);	//wait until the program is complete

		LR=LR^1;	//switch to the other side
    gvarset(500,LR);

  };//auto

 }while(1);

 exit(99);
};