..

Cs_HMI/SubProject/AGV/Command.cs

@@ -65,7 +65,7 @@ namespace arDev
         {
             return AddCommand(cmd + data);
         }
-
+        
         public bool LiftControl(LiftCommand cmd)
         {
             return AddCommand(eAgvCmd.LiftControl, cmd.ToString());
@@ -77,6 +77,33 @@ namespace arDev
             else
                 return AddCommand(eAgvCmd.ChargeOf, chargetID.ToString("0000"));
         }
+        public bool SetBackturnTime(int time)
+        {
+            return AddCommand(eAgvCmd.BackTrunResumeTime, time.ToString("0000"));
+        }
+        public bool SetGateOutOffTime(int time)
+        {
+            return AddCommand(eAgvCmd.GateoutTime, time.ToString("0000"));
+        }
+
+        public bool TurnGDSCenterScope()
+        {
+            return AddCommand(eAgvCmd.TurnGDSCenterScope);
+        }
+        public bool AGVMoveLeft180Turn()
+        {
+            return AddCommand(eAgvCmd.TurnLeft);
+        }
+        public bool AGVMoveRight180Turn()
+        {
+            return AddCommand(eAgvCmd.TurnRight);
+        }
+        public bool AGVMoveBack180Turn()
+        {
+            return AddCommand(eAgvCmd.TurnBack);
+        }
+
+
 
         public bool AGVErrorReset()
         {
@@ -100,10 +127,10 @@ namespace arDev
             value = value.PadLeft(4, '0');
             return AddCommand($"SCH{value}");
         }
-        public bool AGVGateOutTimer(int value)
-        {
-            return AddCommand($"SGT{value:0000}");
-        }
+        //public bool AGVGateOutTimer(int value)
+        //{
+        //    return AddCommand($"SGT{value:0000}");
+        //}
         /// <summary>
         /// 정지감속주기 및 상수
         /// </summary>
@@ -137,6 +164,8 @@ namespace arDev
             };
             return AddCommand(cmds);
         }
+
+        
         protected bool AddCommand(params string[] cmds)
         {
             bool ret = true;
@@ -203,15 +232,15 @@ namespace arDev
                     RaiseMessage(arRS232.MessageType.Normal, "충전명령전송");
                     break;
 
-                case eAgvCmd.GoTurnLeft:
+                case eAgvCmd.TurnLeft:
                     cmdString = $"CTL0000";
                     retval = AddCommand(cmdString);
                     break;
-                case eAgvCmd.GoTurnRight:
+                case eAgvCmd.TurnRight:
                     cmdString = $"CTR0000";
                     retval = AddCommand(cmdString);
                     break;
-                case eAgvCmd.goTurnBack:
+                case eAgvCmd.TurnBack:
                     cmdString = $"CTB0000";
                     retval = AddCommand(cmdString);
                     break;
@@ -240,7 +269,18 @@ namespace arDev
                     cmdString = "CRS0000";
                     retval = AddCommand(cmdString);
                     break;
-
+                case eAgvCmd.TurnGDSCenterScope:
+                    cmdString = "SGS1000";
+                    retval = AddCommand(cmdString);
+                    break;
+                case eAgvCmd.BackTrunResumeTime:
+                    cmdString = $"SST{param}";
+                    retval = AddCommand(cmdString);
+                    break;
+                case eAgvCmd.GateoutTime:
+                    cmdString = $"SGT{param}";
+                    retval = AddCommand(cmdString);
+                    break;
             }
             return retval;
         }

Cs_HMI/SubProject/AGV/EnumData.cs

@@ -141,17 +141,17 @@ namespace arDev
             /// <summary>
             /// CMD : CTL0000
             /// </summary>
-            GoTurnLeft,
+            TurnLeft,
 
             /// <summary>
             /// CMD : CTR0000
             /// </summary>
-            GoTurnRight,
+            TurnRight,
 
             /// <summary>
             /// CMD : CTB0000
             /// </summary>
-            goTurnBack,
+            TurnBack,
 
             /// <summary>
             /// CMD : CBZ
@@ -175,6 +175,12 @@ namespace arDev
             SetSpeed,
 
             CPUReset,
+
+            TurnGDSCenterScope,
+         
+            BackTrunResumeTime,
+            GateoutTime,
+
         }
         public enum eForm
         {