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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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41
Cs_HMI/TestProject/Test_ACS/MainForm.cs
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@@ -299,7 +299,7 @@ namespace Test_ACS
{
// MarkStop: data = TargetID(2 hex) + MarkStop(1 byte)
var targetID = selectedAGV.ToString("X2");
var markStop = chkMarkStop.Checked ? "01" : "00";
var markStop = "01";// chkMarkStop.Checked ? "01" : "00";
SendCommand(AGVCommandHE.MarkStop, targetID + markStop);
}
@@ -556,7 +556,10 @@ namespace Test_ACS
if (radSpdM.Checked) speed = 1;
else if (radSpdH.Checked) speed = 2;
var dataBytes = new byte[] { Motdirection, Magdirection, speed };
byte lidar = 2;
if (radLidarOff.Checked) lidar = 0;
var dataBytes = new byte[] { Motdirection, Magdirection, speed ,lidar};
var dataStr = targetID + string.Join("", dataBytes.Select(b => b.ToString("X2")));
SendCommand(AGVCommandHE.AutoMove, dataStr);
}
@@ -572,5 +575,39 @@ namespace Test_ACS
{
}
private void button6_Click(object sender, EventArgs e)
{
var targetID = selectedAGV.ToString("X2");
SendCommand(AGVCommandHE.Stop, targetID);
}
private void button7_Click(object sender, EventArgs e)
{
//lt180
var targetID = selectedAGV.ToString("X2");
SendCommand(AGVCommandHE.LTurn180, targetID);
}
private void button8_Click(object sender, EventArgs e)
{
//rt180
var targetID = selectedAGV.ToString("X2");
SendCommand(AGVCommandHE.RTurn180, targetID);
}
private void button9_Click(object sender, EventArgs e)
{
//l turn
var targetID = selectedAGV.ToString("X2");
SendCommand(AGVCommandHE.LTurn, targetID);
}
private void button10_Click(object sender, EventArgs e)
{
///r-turn
var targetID = selectedAGV.ToString("X2");
SendCommand(AGVCommandHE.RTurn, targetID);
}
}
}