Amkor/ENIG
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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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16
Cs_HMI/Project/StateMachine/_Xbee.cs
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@@ -24,7 +24,7 @@ namespace Project
{
var data = e.ReceivedPacket.Data;
var dataStr = System.Text.Encoding.Default.GetString(data);
var cmd = (ENIGProtocol.AGVCommands)e.ReceivedPacket.Command;
var cmd = (ENIGProtocol.AGVCommandHE)e.ReceivedPacket.Command;
var TargetID = 0;
if (dataStr.Length >= 2)
{
@@ -47,7 +47,7 @@ namespace Project
switch (cmd)
{
case ENIGProtocol.AGVCommands.SetCurrent: //Set Current Position
case ENIGProtocol.AGVCommandHE.SetCurrent: //Set Current Position
if (dataStr.Length == 6)
{
@@ -76,7 +76,7 @@ namespace Project
else PUB.log.AddE($"Position Param Error:{dataStr}");
break;
case ENIGProtocol.AGVCommands.Goto: //move to tag
case ENIGProtocol.AGVCommandHE.Goto: //move to tag
if (uint.TryParse(dataStr, out uint tagno2))
{
var currPos = PUB.mapctl.Manager.agv.CurrentRFID;///.AGVMoveToRFID(;
@@ -87,14 +87,14 @@ namespace Project
}
else PUB.log.AddE($"Path Param Error :{dataStr}");
break;
case ENIGProtocol.AGVCommands.Stop: //stop
case ENIGProtocol.AGVCommandHE.Stop: //stop
PUB.AGV.AGVMoveStop("xbee");
break;
case ENIGProtocol.AGVCommands.Reset: //Error Reset
case ENIGProtocol.AGVCommandHE.Reset: //Error Reset
PUB.AGV.AGVErrorReset();
break;
case ENIGProtocol.AGVCommands.Manual: //Manual Move (Direction, speed, runtime)
case ENIGProtocol.AGVCommandHE.Manual: //Manual Move (Direction, speed, runtime)
var Direction = data[0]; //0=back, 1=forward, 2=left, 3=right
var Speed = data[1]; //0=slow, 1=normal, 2=fast
var Runtime = data[2]; // running seconds
@@ -113,13 +113,13 @@ namespace Project
PUB.AGV.AGVMoveManual(opt, spd, arDev.Narumi.Sensor.PBSOn);
break;
case ENIGProtocol.AGVCommands.MarkStop: //Set MarkStop
case ENIGProtocol.AGVCommandHE.MarkStop: //Set MarkStop
var MarkStop = data[0]; //0=off, 1=on
//마크센서에서 멈추게 한다
PUB.AGV.AGVMoveStop("Xbee", arDev.Narumi.eStopOpt.MarkStop);
break;
case ENIGProtocol.AGVCommands.LiftControl: //Lift Control
case ENIGProtocol.AGVCommandHE.LiftControl: //Lift Control
var LiftCommand = data[0]; //0=stop, 1=up, 2=down
arDev.Narumi.LiftCommand LCmd = arDev.Narumi.LiftCommand.STP;
if (LiftCommand == 1) LCmd = arDev.Narumi.LiftCommand.UP;