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backuppc
2025-07-14 16:32:56 +09:00
parent fb8c488890
commit 4a45ae15d6
20 changed files with 663 additions and 153 deletions
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24
Cs_HMI/Project/StateMachine/_AGV.cs
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@@ -53,15 +53,33 @@ namespace Project
var chg_stop = PUB.AGV.system1.GetChanged(arDev.Narumi.SystemFlag1.eflag.agv_stop);
//if (chg_run && PUB.AGV.system1.agv_run) PUB.Speak("이동을 시작 합니다");
VAR.BOOL[eVarBool.AGVDIR_UP] = PUB.AGV.data.Direction == 'B';
// PUB.AGV.signal.mark_sensor = PUB.AGV.signal.mark_sensor;
VAR.BOOL[eVarBool.AGV_ERROR] = PUB.AGV.error.Value > 0;
VAR.BOOL[eVarBool.EMERGENCY] = PUB.AGV.error.Emergency;
//모터방향 입력
if (PUB.AGV.data.Direction == 'B')
PUB.mapctl.Manager.agv.CurrentMOTDirection = AGVControl.Direction.Backward;
PUB.mapctl.Manager.agv.Current_Motor_Direction = AGVControl.AgvDir.Backward;
else
PUB.mapctl.Manager.agv.CurrentMOTDirection = AGVControl.Direction.Forward;
PUB.mapctl.Manager.agv.Current_Motor_Direction = AGVControl.AgvDir.Forward;
//현재 속도
if (PUB.AGV.data.Speed == 'H')
PUB.mapctl.Manager.agv.CurrentSpeed = AGVControl.AgvSpeed.High;
else if (PUB.AGV.data.Speed == 'M')
PUB.mapctl.Manager.agv.CurrentSpeed = AGVControl.AgvSpeed.Middle;
else if (PUB.AGV.data.Speed == 'L')
PUB.mapctl.Manager.agv.CurrentSpeed = AGVControl.AgvSpeed.Low;
else if (PUB.AGV.data.Speed == 'S')
PUB.mapctl.Manager.agv.CurrentSpeed = AGVControl.AgvSpeed.MarkStop;
//이동방향
if (PUB.AGV.data.Sts == 'S')
PUB.mapctl.Manager.agv.CurrentSTS = AGVControl.AgvSts.Straight;
else if (PUB.AGV.data.Sts == 'L')
PUB.mapctl.Manager.agv.CurrentSTS = AGVControl.AgvSts.Left;
else if (PUB.AGV.data.Sts == 'R')
PUB.mapctl.Manager.agv.CurrentSTS = AGVControl.AgvSts.Right;
PUB.mapctl.Manager.agv.IsMoving = PUB.AGV.system1.agv_run;
PUB.mapctl.Manager.agv.IsMarkCheck = PUB.AGV.system1.Mark1_check || PUB.AGV.system1.Mark2_check;