Structure vec2
   x.f
   y.f
EndStructure

Structure robot
   Pos.vec2[3]
   Spd.vec2[3]
   Frc.f[3]
EndStructure

#Plus  =  2.9999970
#Minus = -3

Procedure.b Min(a.f, b.f, c.f)
   Result.b = -1  
   If a < b And a < c  
     Result = 0  
   ElseIf b < a And b < c  
     Result = 1  
   ElseIf c < a And c < b  
     Result = 2  
   EndIf   
   ProcedureReturn Result
EndProcedure

ProcedureDLL RTICK(*R.robot)
   Count = 0

   For i=0 To 2
     If *R\Pos[i]\y <= 5
       Count+1
       If Count=2
          
         Select Min(*R\Pos[0]\x, *R\Pos[1]\x , *R\Pos[2]\x)
           Case 0
             *R\Frc[0] = #Plus
             *R\Frc[1] = #Minus
             *R\Frc[2] = #Plus
           Case 1
             *R\Frc[0] = #Plus
             *R\Frc[1] = #Plus
             *R\Frc[2] = #Minus
           Case 2
             *R\Frc[0] = #Minus
             *R\Frc[1] = #Plus
             *R\Frc[2] = #Plus
         EndSelect
              
         Break
       EndIf
     EndIf
   Next i
    
   If Count=0
      *R\Frc[0] = #Minus
      *R\Frc[1] = #Minus
      *R\Frc[2] = #Minus
   EndIf
    
EndProcedure