Amkor/ENIG
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This commit is contained in:
ChiKyun Kim
2025-12-23 17:25:47 +09:00
parent b3f661969a
commit 649d87cae3
16 changed files with 8484 additions and 746 deletions
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23
Cs_HMI/Project/StateMachine/_Xbee.cs
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@@ -172,6 +172,23 @@ namespace Project
else PUB.log.AddE($"[{logPrefix}-{cmd}] Length Error:{data.Length}");
break;
case ENIGProtocol.AGVCommandHE.LTurn180:
PUB.log.Add($"[{logPrefix}-LTurn180]");
PUB.AGV.AGVMoveLeft180Turn();
break;
case ENIGProtocol.AGVCommandHE.RTurn180:
PUB.log.Add($"[{logPrefix}-RTurn180]");
PUB.AGV.AGVMoveRight180Turn();
break;
case ENIGProtocol.AGVCommandHE.LTurn:
PUB.log.Add($"[{logPrefix}-LTurn]");
PUB.AGV.AGVMoveManual(arDev.Narumi.ManulOpt.LT, arDev.Narumi.Speed.Low, arDev.Narumi.Sensor.AllOn);
break;
case ENIGProtocol.AGVCommandHE.RTurn:
PUB.log.Add($"[{logPrefix}-RTurn]");
PUB.AGV.AGVMoveManual(arDev.Narumi.ManulOpt.RT, arDev.Narumi.Speed.Low, arDev.Narumi.Sensor.AllOn);
break;
case ENIGProtocol.AGVCommandHE.Stop: //stop
PUB.log.Add($"[{logPrefix}-Stop]");
PUB.AGV.AGVMoveStop("xbee");
@@ -205,6 +222,7 @@ namespace Project
var MotDirection = data[1]; //0=back, 1=forward
var MagDirection = data[2]; //0=straight, 1=left, 2=right
var AutSpeed = data[3]; //0=slow, 1=normal, 2=fast
var Lidar = data[4]; //0=off, 1=on
var bunkidata = new arDev.Narumi.BunkiData();
@@ -221,7 +239,10 @@ namespace Project
else if (MagDirection == 1) bunkidata.Bunki = arDev.Narumi.eBunki.Left;
else bunkidata.Bunki = arDev.Narumi.eBunki.Strate;
PUB.log.Add($"[{logPrefix}-AutoMove] DIR:{bunkidata.Direction}-{bunkidata.Bunki},SPD:{bunkidata.Speed}");
if (Lidar == 0) bunkidata.PBSSensor = 0;
else bunkidata.PBSSensor = 2;
PUB.log.Add($"[{logPrefix}-AutoMove] DIR:{bunkidata.Direction}-{bunkidata.Bunki},SPD:{bunkidata.Speed}");
PUB.AGV.AGVMoveSet(bunkidata);
PUB.AGV.AGVMoveRun((MotDirection == 0 ? arDev.Narumi.eRunOpt.Backward : arDev.Narumi.eRunOpt.Forward));
break;