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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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56
HMI/TestProject/Test_ACS/MainForm.cs
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@@ -324,20 +324,20 @@ namespace Test_ACS
private void btnLiftUp_Click(object sender, EventArgs e)
{
SendLiftCommand( arDev.Narumi.LiftCommand.UP); // Up
SendLiftCommand(arDev.Narumi.LiftCommand.UP); // Up
}
private void btnLiftDown_Click(object sender, EventArgs e)
{
SendLiftCommand( arDev.Narumi.LiftCommand.DN); // Down
SendLiftCommand(arDev.Narumi.LiftCommand.DN); // Down
}
private void btnLiftStop_Click(object sender, EventArgs e)
{
SendLiftCommand( arDev.Narumi.LiftCommand.STP); // Stop
SendLiftCommand(arDev.Narumi.LiftCommand.STP); // Stop
}
private void SendLiftCommand(arDev.Narumi.LiftCommand liftCmd)
{
// LiftControl: data = TargetID(2 hex) + LiftCommand(1 byte)
@@ -511,7 +511,7 @@ namespace Test_ACS
byte lidar = 2;
if (radLidarOff.Checked) lidar = 0;
var dataBytes = new byte[] { Motdirection, Magdirection, speed ,lidar};
var dataBytes = new byte[] { Motdirection, Magdirection, speed, lidar };
var dataStr = targetID + string.Join("", dataBytes.Select(b => b.ToString("X2")));
SendCommand(AGVCommandHE.AutoMove, dataStr);
}
@@ -579,5 +579,51 @@ namespace Test_ACS
{
SendLiftCommand(arDev.Narumi.LiftCommand.OFF);
}
private void button16_Click(object sender, EventArgs e)
{
//enter pickon
var targetID = selectedAGV.ToString("X2");
var dataStr = targetID;// + liftCmd.ToString("X2");
SendCommand(AGVCommandHE.PickOnEnter, dataStr);
}
private void button15_Click(object sender, EventArgs e)
{
//enter pickoff
var targetID = selectedAGV.ToString("X2");
SendCommand(AGVCommandHE.PickOffEnter, targetID);
}
private void button14_Click(object sender, EventArgs e)
{
//exit pickon
var targetID = selectedAGV.ToString("X2");
SendCommand(AGVCommandHE.PickOnExit, targetID);
}
private void button13_Click(object sender, EventArgs e)
{
//exit pickoff
var targetID = selectedAGV.ToString("X2");
SendCommand(AGVCommandHE.PickOffExit, targetID);
}
private void MainForm_Load(object sender, EventArgs e)
{
this.txtAlias.Items.AddRange(new[] {
"LOADER",
"UNLOADER",
"CLEANNER",
"CHARGER1",
"CHARGER2",
"BUFFER1",
"BUFFER2",
"BUFFER3",
"BUFFER4",
"BUFFER5",
"BUFFER6",
});
}
}
}