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acs test 프로그램에 pick on ,off 기능 추가

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This commit is contained in:
ChiKyun Kim
2026-02-05 17:18:01 +09:00
parent ba542beaff
commit ddaab0b5da
13 changed files with 174 additions and 52 deletions
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17
HMI/Project/StateMachine/Step/_SM_RUN_BUFFER_IN.cs
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@@ -9,6 +9,7 @@ using AR;
using System.Windows.Media.Animation;
using System.Net.Security;
using AGVNavigationCore.Models;
using static arDev.Narumi;
namespace Project
{
@@ -56,7 +57,21 @@ namespace Project
}
else if (PUB.sm.RunStepSeq == idx++)
{
//모션 전후진 제어
//라이다끄기
var ret = PUB.AGV.AGVMoveSet(new arDev.Narumi.BunkiData
{
Bunki = arDev.Narumi.eBunki.Strate,
Direction = arDev.Narumi.eMoveDir.Backward,
PBSSensor = 0, //라이다를끈다
Speed = arDev.Narumi.eMoveSpd.Low,
});
PUB.log.AddAT("라이다를 끈다, 재시도 코드 필요함");
PUB.sm.UpdateRunStepSeq();
return false;
}
else if (PUB.sm.RunStepSeq == idx++)
{
//턴확인
if (PUB._virtualAGV.Turn != AGVNavigationCore.Models.AGVTurn.L90)
{
//동작중이면 동작을 멈춘다

1
HMI/Project/StateMachine/Step/_SM_RUN_BUFFER_OUT.cs
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@@ -7,6 +7,7 @@ using Project.StateMachine;
using COMM;
using AR;
using AGVNavigationCore.Models;
using static arDev.Narumi;
namespace Project
{

1
HMI/Project/StateMachine/Step/_SM_RUN_ENTER.cs
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@@ -7,6 +7,7 @@ using Project.StateMachine;
using COMM;
using AR;
using AGVNavigationCore.Models;
using static arDev.Narumi;
namespace Project
{

1
HMI/Project/StateMachine/Step/_SM_RUN_EXIT.cs
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@@ -7,6 +7,7 @@ using Project.StateMachine;
using COMM;
using AR;
using AGVNavigationCore.Models;
using static arDev.Narumi;
namespace Project
{

20
HMI/Project/StateMachine/Step/_SM_RUN_READY.cs
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@@ -59,16 +59,16 @@ namespace Project
}
//대기모드에서는 움직이지 않게 한다
if(PUB.AGV.system1.agv_run)
{
var ts = VAR.TIME.RUN(eVarTime.IdleStopTime);
if(ts.TotalSeconds > 1)
{
PUB.log.Add($"대기상태에서는 정차");
PUB.AGV.AGVMoveStop("대기상태에서는 정차");
VAR.TIME.Update(eVarTime.IdleStopTime);
}
}
//if(PUB.AGV.system1.agv_run)
//{
// var ts = VAR.TIME.RUN(eVarTime.IdleStopTime);
// if(ts.TotalSeconds > 1)
// {
// PUB.log.Add($"대기상태에서는 정차");
// PUB.AGV.AGVMoveStop("대기상태에서는 정차");
// VAR.TIME.Update(eVarTime.IdleStopTime);
// }
//}
return false;

2
HMI/Project/StateMachine/_Xbee.cs
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@@ -354,7 +354,7 @@ namespace Project
break;
case ENIGProtocol.AGVCommandHE.LiftControl: //Lift Control
var LiftCommand = (LiftCommand)data[1];
var LiftCommand = ( arDev.Narumi.LiftCommand)data[1];
PUB.log.Add($"[{logPrefix}-LiftControl] {LiftCommand}");
PUB.AGV.LiftControl(LiftCommand); //리프트제어
break;