World Zones

Alex ARC

Hi everyone!

I'm new in the forum and need some help.

Actually i'm programming two robots with World Zones, both robots share two cubes that i define with the following program:
    VAR wzstationary Z1_AfterVision;
    VAR wzstationary Z2_BeforeVision;
   
    PROC rPowerOnWZ()
        !data for WZ
        VAR shapedata volumeZ1_AfterV;
        VAR shapedata volumeZ2_BeforeV;
        !cube corners
        CONST pos C1Z1:=[1050,-770,571];
        CONST pos C2Z1:=[2900,-3270,1700];
        CONST pos C1Z2:=[-1050,-770,571];
        CONST pos C2Z2:=[-2900,-3270,1700];
        !wz definition
        WZBoxDef Inside,volumeZ1_AfterV,C1Z1,C2Z1;   
        WZBoxDef Inside,volumeZ2_BeforeV,C1Z2,C2Z2;   
        !wz do activated when inside
        WZDoSet Stat,Z1_AfterVision,Inside,volumeZ1_AfterV,do_wzAfterV_Free,0;
        WZDoSet Stat,Z2_BeforeVision,Inside,volumeZ2_BeforeV,do_wzBeforeV_Free,0;
        RETURN;
    ENDPROC

is all correct, when the robots come into de zone the DO will set in 0, but also I want to lock that zone when one robot is inside, the other must wait to entry, i tryed with that code:

proc wz_supervision()
        !data for WZ
        VAR shapedata volZ1_AfterV;
        VAR shapedata volZ2_BeforeV;
        !cube corners
        CONST pos C1Z1:=[1050,-770,571];
        CONST pos C2Z1:=[2900,-3270,1700];
        CONST pos C1Z2:=[-1050,-770,571];
        CONST pos C2Z2:=[-2900,-3270,1700];
        !wz definition
        WZBoxDef Inside,volZ1_AfterV,C1Z1,C2Z1;   
        WZBoxDef Inside,volZ2_BeforeV,C1Z2,C2Z2;
       
        WzFree Z1_AfterVision_sup;
        WzFree Z2_BeforeVision_sup;    
        WZLimSup Temp,Z1_AfterVision_sup,volZ1_AfterV; 
        WZLimSup Temp,Z2_BeforeVision_sup,volZ2_BeforeV;              
        WzDisable Z1_AfterVision_sup;
        WzDisable Z2_BeforeVision_sup;
       
        if di_wzAfterV_Free=0 then
            WZEnable Z1_AfterVision_sup;
        elseif di_wzBeforeV_Free=0 then
            WZEnable Z1_BeforeVision_sup;
        else
        endif
   
        RETURN;
    endproc


is correct or i'm doing someting strange?A?   to resume i need to lock a zone while R1 is inside and R2 will come when the zone is free.

thanks!!