Amkor/ENIG
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

agv 노드 정보 정리 세분화

Browse Source
This commit is contained in:
backuppc
2025-12-09 13:18:22 +09:00
parent 455e18f427
commit 9db031c305
28 changed files with 992 additions and 1476 deletions
Download Patch File Download Diff File Expand all files Collapse all files

22
Cs_HMI/SubProject/AGV/Command.cs
View File

@@ -65,7 +65,7 @@ namespace arDev
{
return AddCommand(cmd + data);
}
public bool LiftControl(LiftCommand cmd)
{
return AddCommand(eAgvCmd.LiftControl, cmd.ToString());
@@ -86,9 +86,10 @@ namespace arDev
return AddCommand(eAgvCmd.GateoutTime, time.ToString("0000"));
}
public bool TurnGDSCenterScope()
public bool TurnGDSCenterScope(UInt16 time)
{
return AddCommand(eAgvCmd.TurnGDSCenterScope);
if (time > 2000) time = 2000;
return AddCommand(eAgvCmd.TurnGDSCenterScope, time.ToString("0000"));
}
public bool AGVMoveLeft180Turn()
{
@@ -98,9 +99,10 @@ namespace arDev
{
return AddCommand(eAgvCmd.TurnRight);
}
public bool AGVMoveBack180Turn()
public bool AGVMoveBack180Turn(bool leftTurn)
{
return AddCommand(eAgvCmd.TurnBack);
var dir = leftTurn ? "L" : "R";
return AddCommand(eAgvCmd.BackAndTurn, dir);
}
@@ -165,7 +167,7 @@ namespace arDev
return AddCommand(cmds);
}
protected bool AddCommand(params string[] cmds)
{
bool ret = true;
@@ -240,8 +242,9 @@ namespace arDev
cmdString = $"CTR0000";
retval = AddCommand(cmdString);
break;
case eAgvCmd.TurnBack:
cmdString = $"CTB0000";
case eAgvCmd.BackAndTurn:
if (param.isEmpty()) param = "L";
cmdString = $"CTB000{param}";
retval = AddCommand(cmdString);
break;
case eAgvCmd.CallCancle:
@@ -270,7 +273,8 @@ namespace arDev
retval = AddCommand(cmdString);
break;
case eAgvCmd.TurnGDSCenterScope:
cmdString = "SGS1000";
if (param.isEmpty()) param = "1000";
cmdString = "SGS{param}";
retval = AddCommand(cmdString);
break;
case eAgvCmd.BackTrunResumeTime: