From eb0e08d2907048bd596773561fbc6ee5c6254251 Mon Sep 17 00:00:00 2001 From: LGram16 Date: Tue, 16 Dec 2025 23:31:47 +0900 Subject: [PATCH] .. --- Cs_HMI/Data/NewMap.json | 2105 ++++++++--------- Cs_HMI/Data/NewMap_3.json | 74 +- Cs_HMI/Project/Device/BMS.cs | 4 +- .../StateMachine/Step/_SM_RUN_POSCHK.cs | 2 +- Cs_HMI/Project/StateMachine/Step/_Util.cs | 10 +- Cs_HMI/Project/StateMachine/_Xbee.cs | 2 +- Cs_HMI/Project/ViewForm/fAgv.Designer.cs | 48 +- Cs_HMI/Project/ViewForm/fAgv.cs | 7 +- Cs_HMI/Project/ViewForm/fManual.Designer.cs | 588 ++--- Cs_HMI/Project/ViewForm/fManual.cs | 6 +- 10 files changed, 1384 insertions(+), 1462 deletions(-) diff --git a/Cs_HMI/Data/NewMap.json b/Cs_HMI/Data/NewMap.json index 76ac99c..2e25694 100644 --- a/Cs_HMI/Data/NewMap.json +++ b/Cs_HMI/Data/NewMap.json @@ -2,1321 +2,1218 @@ "Nodes": [ { "Id": "N001", - "Name": "UNLOADER", - "Position": "65, 229", - "Type": 2, - "CanDocking": true, - "DockDirection": 2, + "Text": "Unloader", + "Position": "99, 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"15fddfa4-ff74-48ff-b922-4aacdce1960b", + "Type": 3, + "Position": "81, 256", + "X": 81, + "Y": 256, + "Rotation": 74.50226651936697 + }, + { + "Id": "962bb671-6932-477d-9209-2c2a076cfb22", + "Type": 3, + "Position": "73, 466", + "X": 73, + "Y": 466, + "Rotation": 90 + }, + { + "Id": "cd9f8434-f223-4532-9b3e-5b44c738abbb", + "Type": 3, + "Position": "686, 196", + "X": 686, + "Y": 196, + "Rotation": 90 + }, + { + "Id": "61c6d1dd-6a39-4931-a530-9b44d2010139", + "Type": 3, + "Position": "669, 84", + "X": 669, + "Y": 84, + "Rotation": 90 + }, + { + "Id": "4b699847-36d4-471c-b990-4ad37967c2dc", + "Type": 3, + "Position": "204, 655", + "X": 204, + "Y": 655, + "Rotation": 0.3824344779617803 + }, + { + "Id": "a9f68317-f1c2-47d8-b029-348b5428be9f", + "Type": 3, + "Position": "296, 657", + "X": 296, + "Y": 657, + "Rotation": -1.3380194104322385 + }, + { + "Id": "fe227205-2a65-4ba9-bb4a-4efb4ed0a7b0", + "Type": 3, + "Position": "122, 657", + "X": 122, + "Y": 657, + "Rotation": 0.8431103833306963 + }, + { + "Id": "5dd29191-798c-480c-b066-7947bfcc4fb7", + "Type": 3, + "Position": "40, 657", + "X": 40, + "Y": 657, + "Rotation": 1.659829660758831 + }, + { + "Id": "649729f0-ff04-4e11-8869-f6a39d815427", + "Type": 3, + "Position": "39, 534", + "X": 39.4693948552308, + "Y": 533.7519551312122, + "Rotation": 0 + }, + { + "Id": "2bb9a821-f86b-4190-a182-64abe2c940ed", + "Type": 3, + "Position": "125, 534", + "X": 125.46939485523076, + "Y": 533.7519551312122, + "Rotation": 0 + }, + { + "Id": "821598e1-091a-4884-96fe-6ed5f43c4f62", + "Type": 3, + "Position": "203, 532", + "X": 203.46939485523072, + "Y": 532.2519551312122, + "Rotation": 0 + }, + { + "Id": "66c1bbee-89a8-45a9-b585-ddfd59768f6b", + "Type": 3, + "Position": "295, 533", + "X": 295.4693948552307, + "Y": 533.2519551312122, + "Rotation": 0 } ], "Settings": { "BackgroundColorArgb": -14671840, "ShowGrid": false }, - "CreatedDate": "2025-12-09T17:00:29.7458276+09:00", - "Version": "1.1" + "CreatedDate": "2025-12-16T10:58:08.630Z", + "Version": "1.3" } \ No newline at end of file diff --git a/Cs_HMI/Data/NewMap_3.json b/Cs_HMI/Data/NewMap_3.json index 003fb41..16aaad4 100644 --- a/Cs_HMI/Data/NewMap_3.json +++ b/Cs_HMI/Data/NewMap_3.json @@ -1020,54 +1020,54 @@ "ControlPoint": null }, { - "Id": "9051af9d-0352-4bb4-9a3b-eccf93def10c", + "Id": "26663018-221d-4ece-9dc0-7b40c19d31d8", "Type": 4, "P1": { - "X": 295.5228696741854, - "Y": 562.2201336675018 + "X": 40.469394855230796, + "Y": 558.2519551312122 }, "P2": { - "X": 295.5228696741854, - "Y": 493.64870509607334 + "X": 41.969394855230796, + "Y": 496.7519551312122 }, "ControlPoint": null }, { - "Id": "9a469f1e-7bb9-47de-be6e-a733dc14b111", + "Id": "67eebd44-9a87-4298-be19-f8757c741b54", "Type": 4, "P1": { - "X": 39.33239348370933, - "Y": 558.4106098579781 + "X": 125.96939485523076, + "Y": 563.2519551312122 }, "P2": { - "X": 39.808583959899806, - "Y": 489.83918128654955 + "X": 125.96939485523076, + "Y": 495.7519551312122 }, "ControlPoint": null }, { - "Id": "007a6c4e-1a0a-4073-b9e8-74280e862a3c", + "Id": "5c4bdbc0-46b8-4e17-a6cc-43365d0f3bcb", "Type": 4, "P1": { - "X": 126.47525062656644, - "Y": 558.4106098579781 + "X": 203.96939485523072, + "Y": 563.7519551312122 }, "P2": { - "X": 126.95144110275692, - "Y": 493.64870509607334 + "X": 204.96939485523072, + "Y": 492.7519551312122 }, "ControlPoint": null }, { - "Id": "ebf1f70c-4717-4be6-8d2f-59aa72674d30", + "Id": "f67f7595-8f73-47e9-87be-4583239bb8e5", "Type": 4, "P1": { - "X": 203.14191729323306, - "Y": 557.4582289055971 + "X": 296.9693948552307, + "Y": 564.7519551312122 }, "P2": { - "X": 201.71334586466165, - "Y": 493.64870509607334 + "X": 295.4693948552307, + "Y": 493.2519551312122 }, "ControlPoint": null } @@ -1178,35 +1178,35 @@ "Rotation": 1.659829660758831 }, { - "Id": "348d27bb-6bc5-43b3-98ff-91228a3dfb9e", + "Id": "649729f0-ff04-4e11-8869-f6a39d815427", "Type": 3, - "Position": "296, 532", - "X": 295.99906015037584, - "Y": 532.220133667502, + "Position": "39, 534", + "X": 39.4693948552308, + "Y": 533.7519551312122, "Rotation": 0 }, { - "Id": "7dc5b282-fdb5-4359-b7f5-f003d912990f", + "Id": "2bb9a821-f86b-4190-a182-64abe2c940ed", "Type": 3, - "Position": "202, 531", - "X": 201.71334586466165, - "Y": 531.267752715121, + "Position": "125, 534", + "X": 125.46939485523076, + "Y": 533.7519551312122, "Rotation": 0 }, { - "Id": "2d0e4069-ec5c-4db1-8a1c-946ea70f4cab", + "Id": "821598e1-091a-4884-96fe-6ed5f43c4f62", "Type": 3, - "Position": "126, 534", - "X": 125.52286967418549, - "Y": 533.6487050960733, + "Position": "203, 532", + "X": 203.46939485523072, + "Y": 532.2519551312122, "Rotation": 0 }, { - "Id": "df4b14a4-33df-4a9e-ab35-bc127be1842d", + "Id": "66c1bbee-89a8-45a9-b585-ddfd59768f6b", "Type": 3, - "Position": "40, 532", - "X": 39.808583959899806, - "Y": 532.220133667502, + "Position": "295, 533", + "X": 295.4693948552307, + "Y": 533.2519551312122, "Rotation": 0 } ], @@ -1214,6 +1214,6 @@ "BackgroundColorArgb": -14671840, "ShowGrid": false }, - "CreatedDate": "2025-12-16T04:53:54.848Z", + "CreatedDate": "2025-12-16T10:50:49.548Z", "Version": "1.3" } \ No newline at end of file diff --git a/Cs_HMI/Project/Device/BMS.cs b/Cs_HMI/Project/Device/BMS.cs index 1be54ca..f7092c5 100644 --- a/Cs_HMI/Project/Device/BMS.cs +++ b/Cs_HMI/Project/Device/BMS.cs @@ -407,7 +407,7 @@ namespace arDev cmd.Add(0xFF); cmd.Add(0xFD); cmd.Add(0x77); - cmd.Add(0x0D); + //cmd.Add(0x0D); return WriteData(cmd.ToArray()); } @@ -423,7 +423,7 @@ namespace arDev cmd.Add(0xFF); cmd.Add(0xFC); cmd.Add(0x77); - cmd.Add(0x0D); + //cmd.Add(0x0D); return WriteData(cmd.ToArray()); } diff --git a/Cs_HMI/Project/StateMachine/Step/_SM_RUN_POSCHK.cs b/Cs_HMI/Project/StateMachine/Step/_SM_RUN_POSCHK.cs index 62fc7d7..65293d2 100644 --- a/Cs_HMI/Project/StateMachine/Step/_SM_RUN_POSCHK.cs +++ b/Cs_HMI/Project/StateMachine/Step/_SM_RUN_POSCHK.cs @@ -30,7 +30,7 @@ namespace Project PBSSensor = 1, Speed = arDev.Narumi.eMoveSpd.Low, }); - PUB.AGV.AGVMoveRun(); + PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Forward); VAR.TIME.Update(eVarTime.LastRunCommandTime); } } diff --git a/Cs_HMI/Project/StateMachine/Step/_Util.cs b/Cs_HMI/Project/StateMachine/Step/_Util.cs index e9498af..519bc6b 100644 --- a/Cs_HMI/Project/StateMachine/Step/_Util.cs +++ b/Cs_HMI/Project/StateMachine/Step/_Util.cs @@ -244,7 +244,7 @@ namespace Project PBSSensor = 1, Speed = arDev.Narumi.eMoveSpd.Low, }); - PUB.AGV.AGVMoveRun();// + PUB.AGV.AGVMoveRun( arDev.Narumi.eRunOpt.Forward);// tm_gocharge_command = DateTime.Now; } } @@ -265,7 +265,13 @@ namespace Project PUB.AGV.error.Emergency == false && PUB.AGV.system1.agv_run == false) { - //PUB.PLC.Move(Device.PLC.Rundirection.Backward, "UpdateMotionPosition #1(" + sender + ")"); + PUB.AGV.AGVMoveSet(new arDev.Narumi.BunkiData + { + Bunki = arDev.Narumi.eBunki.Strate, + Direction = arDev.Narumi.eMoveDir.Backward, + PBSSensor = 1, + Speed = arDev.Narumi.eMoveSpd.Low, + }); PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Backward);// LastCommandTime = DateTime.Now; } diff --git a/Cs_HMI/Project/StateMachine/_Xbee.cs b/Cs_HMI/Project/StateMachine/_Xbee.cs index 7c2a75c..ce73ca2 100644 --- a/Cs_HMI/Project/StateMachine/_Xbee.cs +++ b/Cs_HMI/Project/StateMachine/_Xbee.cs @@ -223,7 +223,7 @@ namespace Project PUB.log.Add($"[{logPrefix}-AutoMove] DIR:{bunkidata.Direction}-{bunkidata.Bunki},SPD:{bunkidata.Speed}"); PUB.AGV.AGVMoveSet(bunkidata); - PUB.AGV.AGVMoveRun(); + PUB.AGV.AGVMoveRun((MotDirection == 0 ? arDev.Narumi.eRunOpt.Backward : arDev.Narumi.eRunOpt.Forward)); break; case ENIGProtocol.AGVCommandHE.MarkStop: //Set MarkStop diff --git a/Cs_HMI/Project/ViewForm/fAgv.Designer.cs b/Cs_HMI/Project/ViewForm/fAgv.Designer.cs index a53c9e5..526a8e8 100644 --- a/Cs_HMI/Project/ViewForm/fAgv.Designer.cs +++ b/Cs_HMI/Project/ViewForm/fAgv.Designer.cs @@ -48,6 +48,7 @@ this.button4 = new System.Windows.Forms.Button(); this.button9 = new System.Windows.Forms.Button(); this.panel2 = new System.Windows.Forms.Panel(); + this.lbPortName = new System.Windows.Forms.Label(); this.button15 = new System.Windows.Forms.Button(); this.button14 = new System.Windows.Forms.Button(); this.button11 = new System.Windows.Forms.Button(); @@ -55,7 +56,7 @@ this.button13 = new System.Windows.Forms.Button(); this.button10 = new System.Windows.Forms.Button(); this.button16 = new System.Windows.Forms.Button(); - this.lbPortName = new System.Windows.Forms.Label(); + this.button17 = new System.Windows.Forms.Button(); this.tableLayoutPanel1.SuspendLayout(); this.panel1.SuspendLayout(); this.panel2.SuspendLayout(); @@ -142,10 +143,11 @@ // // panel1 // - this.panel1.Controls.Add(this.lbIP); this.panel1.Controls.Add(this.button7); this.panel1.Controls.Add(this.button6); this.panel1.Controls.Add(this.button5); + this.panel1.Controls.Add(this.button17); + this.panel1.Controls.Add(this.lbIP); this.panel1.Controls.Add(this.button3); this.panel1.Controls.Add(this.button2); this.panel1.Controls.Add(this.button1); @@ -164,7 +166,7 @@ this.lbIP.ForeColor = System.Drawing.Color.White; this.lbIP.Location = new System.Drawing.Point(252, 0); this.lbIP.Name = "lbIP"; - this.lbIP.Size = new System.Drawing.Size(398, 58); + this.lbIP.Size = new System.Drawing.Size(638, 58); this.lbIP.TabIndex = 8; this.lbIP.Text = "000.000.000.000"; this.lbIP.TextAlign = System.Drawing.ContentAlignment.MiddleCenter; @@ -172,7 +174,7 @@ // button7 // this.button7.Dock = System.Windows.Forms.DockStyle.Right; - this.button7.Location = new System.Drawing.Point(650, 0); + this.button7.Location = new System.Drawing.Point(570, 0); this.button7.Name = "button7"; this.button7.Size = new System.Drawing.Size(80, 58); this.button7.TabIndex = 6; @@ -183,7 +185,7 @@ // button6 // this.button6.Dock = System.Windows.Forms.DockStyle.Right; - this.button6.Location = new System.Drawing.Point(730, 0); + this.button6.Location = new System.Drawing.Point(650, 0); this.button6.Name = "button6"; this.button6.Size = new System.Drawing.Size(80, 58); this.button6.TabIndex = 5; @@ -194,7 +196,7 @@ // button5 // this.button5.Dock = System.Windows.Forms.DockStyle.Right; - this.button5.Location = new System.Drawing.Point(810, 0); + this.button5.Location = new System.Drawing.Point(730, 0); this.button5.Name = "button5"; this.button5.Size = new System.Drawing.Size(80, 58); this.button5.TabIndex = 4; @@ -242,7 +244,7 @@ this.button8.Name = "button8"; this.button8.Size = new System.Drawing.Size(80, 58); this.button8.TabIndex = 7; - this.button8.Text = "Run"; + this.button8.Text = "Run(Fwd)"; this.button8.UseVisualStyleBackColor = true; this.button8.Click += new System.EventHandler(this.button8_Click); // @@ -285,6 +287,18 @@ this.panel2.Size = new System.Drawing.Size(1050, 58); this.panel2.TabIndex = 8; // + // lbPortName + // + this.lbPortName.Dock = System.Windows.Forms.DockStyle.Fill; + this.lbPortName.Font = new System.Drawing.Font("Tahoma", 15F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129))); + this.lbPortName.ForeColor = System.Drawing.Color.White; + this.lbPortName.Location = new System.Drawing.Point(607, 0); + this.lbPortName.Name = "lbPortName"; + this.lbPortName.Size = new System.Drawing.Size(203, 58); + this.lbPortName.TabIndex = 15; + this.lbPortName.Text = "--"; + this.lbPortName.TextAlign = System.Drawing.ContentAlignment.MiddleCenter; + // // button15 // this.button15.Dock = System.Windows.Forms.DockStyle.Left; @@ -362,17 +376,16 @@ this.button16.UseVisualStyleBackColor = true; this.button16.Click += new System.EventHandler(this.button16_Click); // - // lbPortName + // button17 // - this.lbPortName.Dock = System.Windows.Forms.DockStyle.Fill; - this.lbPortName.Font = new System.Drawing.Font("Tahoma", 15F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129))); - this.lbPortName.ForeColor = System.Drawing.Color.White; - this.lbPortName.Location = new System.Drawing.Point(607, 0); - this.lbPortName.Name = "lbPortName"; - this.lbPortName.Size = new System.Drawing.Size(203, 58); - this.lbPortName.TabIndex = 15; - this.lbPortName.Text = "--"; - this.lbPortName.TextAlign = System.Drawing.ContentAlignment.MiddleCenter; + this.button17.Dock = System.Windows.Forms.DockStyle.Right; + this.button17.Location = new System.Drawing.Point(810, 0); + this.button17.Name = "button17"; + this.button17.Size = new System.Drawing.Size(80, 58); + this.button17.TabIndex = 9; + this.button17.Text = "Run(Bwd)"; + this.button17.UseVisualStyleBackColor = true; + this.button17.Click += new System.EventHandler(this.button17_Click); // // fAgv // @@ -424,5 +437,6 @@ private System.Windows.Forms.Button button12; private System.Windows.Forms.Button button13; private System.Windows.Forms.Label lbPortName; + private System.Windows.Forms.Button button17; } } \ No newline at end of file diff --git a/Cs_HMI/Project/ViewForm/fAgv.cs b/Cs_HMI/Project/ViewForm/fAgv.cs index b0f4888..a4dfdc6 100644 --- a/Cs_HMI/Project/ViewForm/fAgv.cs +++ b/Cs_HMI/Project/ViewForm/fAgv.cs @@ -133,7 +133,7 @@ namespace Project.ViewForm private void button8_Click(object sender, EventArgs e) { - PUB.AGV.AGVMoveRun(); + PUB.AGV.AGVMoveRun( arDev.Narumi.eRunOpt.Forward); } private void button9_Click(object sender, EventArgs e) @@ -190,5 +190,10 @@ namespace Project.ViewForm { PUB.AGV.LiftControl(arDev.Narumi.LiftCommand.STP); } + + private void button17_Click(object sender, EventArgs e) + { + PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Backward); + } } } diff --git a/Cs_HMI/Project/ViewForm/fManual.Designer.cs b/Cs_HMI/Project/ViewForm/fManual.Designer.cs index eb46ea4..356f542 100644 --- a/Cs_HMI/Project/ViewForm/fManual.Designer.cs +++ b/Cs_HMI/Project/ViewForm/fManual.Designer.cs @@ -41,45 +41,45 @@ this.btErrReset = new System.Windows.Forms.Button(); this.timer1 = new System.Windows.Forms.Timer(this.components); this.panel2 = new System.Windows.Forms.Panel(); - this.btRight180 = new System.Windows.Forms.Button(); + this.tableLayoutPanel2 = new System.Windows.Forms.TableLayoutPanel(); + this.btBack180 = new System.Windows.Forms.Button(); this.btLeft180 = new System.Windows.Forms.Button(); + this.btRight180 = new System.Windows.Forms.Button(); + this.button2 = new System.Windows.Forms.Button(); this.button1 = new System.Windows.Forms.Button(); this.groupBox1 = new System.Windows.Forms.GroupBox(); + this.radpbs2 = new AGVControl.MyRadioButton(); this.panel9 = new System.Windows.Forms.Panel(); + this.radpbs1 = new AGVControl.MyRadioButton(); this.panel3 = new System.Windows.Forms.Panel(); + this.radpbs0 = new AGVControl.MyRadioButton(); this.grpSpeed = new System.Windows.Forms.GroupBox(); + this.radspdh = new AGVControl.MyRadioButton(); this.panel8 = new System.Windows.Forms.Panel(); + this.radspdm = new AGVControl.MyRadioButton(); this.panel4 = new System.Windows.Forms.Panel(); + this.radspdl = new AGVControl.MyRadioButton(); this.grpBunki = new System.Windows.Forms.GroupBox(); + this.radright = new AGVControl.MyRadioButton(); this.panel7 = new System.Windows.Forms.Panel(); + this.radstrai = new AGVControl.MyRadioButton(); this.panel5 = new System.Windows.Forms.Panel(); + this.radleft = new AGVControl.MyRadioButton(); this.groupBox2 = new System.Windows.Forms.GroupBox(); this.arLabel1 = new arCtl.arLabel(); this.panel12 = new System.Windows.Forms.Panel(); - this.panel6 = new System.Windows.Forms.Panel(); - this.label1 = new System.Windows.Forms.Label(); - this.radpbs2 = new AGVControl.MyRadioButton(); - this.radpbs1 = new AGVControl.MyRadioButton(); - this.radpbs0 = new AGVControl.MyRadioButton(); - this.radspdh = new AGVControl.MyRadioButton(); - this.radspdm = new AGVControl.MyRadioButton(); - this.radspdl = new AGVControl.MyRadioButton(); - this.radright = new AGVControl.MyRadioButton(); - this.radstrai = new AGVControl.MyRadioButton(); - this.radleft = new AGVControl.MyRadioButton(); this.radbackward = new AGVControl.MyRadioButton(); + this.panel6 = new System.Windows.Forms.Panel(); this.radforward = new AGVControl.MyRadioButton(); + this.label1 = new System.Windows.Forms.Label(); this.guideSensor1 = new Narumi.UC.GuideSensor(); - this.btBack180 = new System.Windows.Forms.Button(); - this.tableLayoutPanel2 = new System.Windows.Forms.TableLayoutPanel(); - this.button2 = new System.Windows.Forms.Button(); this.tableLayoutPanel1.SuspendLayout(); this.panel2.SuspendLayout(); + this.tableLayoutPanel2.SuspendLayout(); this.groupBox1.SuspendLayout(); this.grpSpeed.SuspendLayout(); this.grpBunki.SuspendLayout(); this.groupBox2.SuspendLayout(); - this.tableLayoutPanel2.SuspendLayout(); this.SuspendLayout(); // // tableLayoutPanel1 @@ -124,7 +124,7 @@ this.btStart.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.ForwardDiagonal; this.btStart.GradientRepeatBG = false; this.btStart.isButton = true; - this.btStart.Location = new System.Drawing.Point(204, 201); + this.btStart.Location = new System.Drawing.Point(204, 200); this.btStart.MouseDownColor = System.Drawing.Color.Yellow; this.btStart.MouseOverColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64))))); this.btStart.msg = new string[] { @@ -146,7 +146,7 @@ this.btStart.SignAlign = System.Drawing.ContentAlignment.BottomRight; this.btStart.SignColor = System.Drawing.Color.Yellow; this.btStart.SignFont = new System.Drawing.Font("Consolas", 7F, System.Drawing.FontStyle.Italic); - this.btStart.Size = new System.Drawing.Size(195, 192); + this.btStart.Size = new System.Drawing.Size(195, 191); this.btStart.TabIndex = 6; this.btStart.Text = "RUN"; this.btStart.TextAlign = System.Drawing.ContentAlignment.MiddleCenter; @@ -171,7 +171,7 @@ this.btRight.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.ForwardDiagonal; this.btRight.GradientRepeatBG = false; this.btRight.isButton = true; - this.btRight.Location = new System.Drawing.Point(405, 201); + this.btRight.Location = new System.Drawing.Point(405, 200); this.btRight.MouseDownColor = System.Drawing.Color.Yellow; this.btRight.MouseOverColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64))))); this.btRight.msg = null; @@ -191,7 +191,7 @@ this.btRight.SignAlign = System.Drawing.ContentAlignment.BottomRight; this.btRight.SignColor = System.Drawing.Color.Yellow; this.btRight.SignFont = new System.Drawing.Font("Consolas", 7F, System.Drawing.FontStyle.Italic); - this.btRight.Size = new System.Drawing.Size(196, 192); + this.btRight.Size = new System.Drawing.Size(196, 191); this.btRight.TabIndex = 0; this.btRight.Text = "좌회전"; this.btRight.TextAlign = System.Drawing.ContentAlignment.MiddleCenter; @@ -237,7 +237,7 @@ this.btBack.SignAlign = System.Drawing.ContentAlignment.BottomRight; this.btBack.SignColor = System.Drawing.Color.Yellow; this.btBack.SignFont = new System.Drawing.Font("Consolas", 7F, System.Drawing.FontStyle.Italic); - this.btBack.Size = new System.Drawing.Size(195, 192); + this.btBack.Size = new System.Drawing.Size(195, 191); this.btBack.TabIndex = 0; this.btBack.Text = "후진"; this.btBack.TextAlign = System.Drawing.ContentAlignment.MiddleCenter; @@ -262,7 +262,7 @@ this.btForward.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.ForwardDiagonal; this.btForward.GradientRepeatBG = false; this.btForward.isButton = true; - this.btForward.Location = new System.Drawing.Point(204, 399); + this.btForward.Location = new System.Drawing.Point(204, 397); this.btForward.MouseDownColor = System.Drawing.Color.Yellow; this.btForward.MouseOverColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64))))); this.btForward.msg = null; @@ -282,7 +282,7 @@ this.btForward.SignAlign = System.Drawing.ContentAlignment.BottomRight; this.btForward.SignColor = System.Drawing.Color.Yellow; this.btForward.SignFont = new System.Drawing.Font("Consolas", 7F, System.Drawing.FontStyle.Italic); - this.btForward.Size = new System.Drawing.Size(195, 192); + this.btForward.Size = new System.Drawing.Size(195, 194); this.btForward.TabIndex = 0; this.btForward.Text = "전진"; this.btForward.TextAlign = System.Drawing.ContentAlignment.MiddleCenter; @@ -307,7 +307,7 @@ this.btLeft.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.ForwardDiagonal; this.btLeft.GradientRepeatBG = false; this.btLeft.isButton = true; - this.btLeft.Location = new System.Drawing.Point(3, 201); + this.btLeft.Location = new System.Drawing.Point(3, 200); this.btLeft.MouseDownColor = System.Drawing.Color.Yellow; this.btLeft.MouseOverColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64))))); this.btLeft.msg = null; @@ -327,7 +327,7 @@ this.btLeft.SignAlign = System.Drawing.ContentAlignment.BottomRight; this.btLeft.SignColor = System.Drawing.Color.Yellow; this.btLeft.SignFont = new System.Drawing.Font("Consolas", 7F, System.Drawing.FontStyle.Italic); - this.btLeft.Size = new System.Drawing.Size(195, 192); + this.btLeft.Size = new System.Drawing.Size(195, 191); this.btLeft.TabIndex = 0; this.btLeft.Text = "우회전"; this.btLeft.TextAlign = System.Drawing.ContentAlignment.MiddleCenter; @@ -341,7 +341,7 @@ this.btMarkStop.Font = new System.Drawing.Font("맑은 고딕", 20F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129))); this.btMarkStop.Location = new System.Drawing.Point(3, 3); this.btMarkStop.Name = "btMarkStop"; - this.btMarkStop.Size = new System.Drawing.Size(195, 192); + this.btMarkStop.Size = new System.Drawing.Size(195, 191); this.btMarkStop.TabIndex = 7; this.btMarkStop.Text = "마크정지"; this.btMarkStop.UseVisualStyleBackColor = true; @@ -351,9 +351,9 @@ // this.btchargeOff.Dock = System.Windows.Forms.DockStyle.Fill; this.btchargeOff.Font = new System.Drawing.Font("맑은 고딕", 20F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129))); - this.btchargeOff.Location = new System.Drawing.Point(405, 399); + this.btchargeOff.Location = new System.Drawing.Point(405, 397); this.btchargeOff.Name = "btchargeOff"; - this.btchargeOff.Size = new System.Drawing.Size(196, 192); + this.btchargeOff.Size = new System.Drawing.Size(196, 194); this.btchargeOff.TabIndex = 8; this.btchargeOff.Text = "충전해제"; this.btchargeOff.UseVisualStyleBackColor = true; @@ -363,9 +363,9 @@ // this.btChargeOn.Dock = System.Windows.Forms.DockStyle.Fill; this.btChargeOn.Font = new System.Drawing.Font("맑은 고딕", 20F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129))); - this.btChargeOn.Location = new System.Drawing.Point(3, 399); + this.btChargeOn.Location = new System.Drawing.Point(3, 397); this.btChargeOn.Name = "btChargeOn"; - this.btChargeOn.Size = new System.Drawing.Size(195, 192); + this.btChargeOn.Size = new System.Drawing.Size(195, 194); this.btChargeOn.TabIndex = 9; this.btChargeOn.Text = "충전"; this.btChargeOn.UseVisualStyleBackColor = true; @@ -377,7 +377,7 @@ this.btErrReset.Font = new System.Drawing.Font("맑은 고딕", 20F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129))); this.btErrReset.Location = new System.Drawing.Point(405, 3); this.btErrReset.Name = "btErrReset"; - this.btErrReset.Size = new System.Drawing.Size(196, 192); + this.btErrReset.Size = new System.Drawing.Size(196, 191); this.btErrReset.TabIndex = 10; this.btErrReset.Text = "오류소거"; this.btErrReset.UseVisualStyleBackColor = true; @@ -403,19 +403,38 @@ this.panel2.TabIndex = 9; this.panel2.Paint += new System.Windows.Forms.PaintEventHandler(this.panel2_Paint); // - // btRight180 + // tableLayoutPanel2 // - this.btRight180.BackColor = System.Drawing.Color.WhiteSmoke; - this.btRight180.Dock = System.Windows.Forms.DockStyle.Fill; - this.btRight180.Font = new System.Drawing.Font("맑은 고딕", 10F, System.Drawing.FontStyle.Bold); - this.btRight180.ForeColor = System.Drawing.Color.Black; - this.btRight180.Location = new System.Drawing.Point(3, 62); - this.btRight180.Name = "btRight180"; - this.btRight180.Size = new System.Drawing.Size(196, 53); - this.btRight180.TabIndex = 6; - this.btRight180.Text = "180도 우회전"; - this.btRight180.UseVisualStyleBackColor = false; - this.btRight180.Click += new System.EventHandler(this.btRight180_Click); + this.tableLayoutPanel2.ColumnCount = 2; + this.tableLayoutPanel2.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 50F)); + this.tableLayoutPanel2.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 50F)); + this.tableLayoutPanel2.Controls.Add(this.btBack180, 1, 0); + this.tableLayoutPanel2.Controls.Add(this.btLeft180, 0, 0); + this.tableLayoutPanel2.Controls.Add(this.btRight180, 0, 1); + this.tableLayoutPanel2.Controls.Add(this.button2, 1, 1); + this.tableLayoutPanel2.Dock = System.Windows.Forms.DockStyle.Fill; + this.tableLayoutPanel2.Location = new System.Drawing.Point(0, 438); + this.tableLayoutPanel2.Name = "tableLayoutPanel2"; + this.tableLayoutPanel2.RowCount = 2; + this.tableLayoutPanel2.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 50F)); + this.tableLayoutPanel2.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 50F)); + this.tableLayoutPanel2.Size = new System.Drawing.Size(404, 118); + this.tableLayoutPanel2.TabIndex = 12; + // + // btBack180 + // + this.btBack180.BackColor = System.Drawing.Color.WhiteSmoke; + this.btBack180.Cursor = System.Windows.Forms.Cursors.Hand; + this.btBack180.Dock = System.Windows.Forms.DockStyle.Fill; + this.btBack180.Font = new System.Drawing.Font("맑은 고딕", 10F, System.Drawing.FontStyle.Bold); + this.btBack180.ForeColor = System.Drawing.Color.Black; + this.btBack180.Location = new System.Drawing.Point(205, 3); + this.btBack180.Name = "btBack180"; + this.btBack180.Size = new System.Drawing.Size(196, 53); + this.btBack180.TabIndex = 15; + this.btBack180.Text = "자석 (ON)"; + this.btBack180.UseVisualStyleBackColor = false; + this.btBack180.Click += new System.EventHandler(this.btBack180_Click); // // btLeft180 // @@ -431,6 +450,35 @@ this.btLeft180.UseVisualStyleBackColor = false; this.btLeft180.Click += new System.EventHandler(this.btLeft180_Click); // + // btRight180 + // + this.btRight180.BackColor = System.Drawing.Color.WhiteSmoke; + this.btRight180.Dock = System.Windows.Forms.DockStyle.Fill; + this.btRight180.Font = new System.Drawing.Font("맑은 고딕", 10F, System.Drawing.FontStyle.Bold); + this.btRight180.ForeColor = System.Drawing.Color.Black; + this.btRight180.Location = new System.Drawing.Point(3, 62); + this.btRight180.Name = "btRight180"; + this.btRight180.Size = new System.Drawing.Size(196, 53); + this.btRight180.TabIndex = 6; + this.btRight180.Text = "180도 우회전"; + this.btRight180.UseVisualStyleBackColor = false; + this.btRight180.Click += new System.EventHandler(this.btRight180_Click); + // + // button2 + // + this.button2.BackColor = System.Drawing.Color.WhiteSmoke; + this.button2.Cursor = System.Windows.Forms.Cursors.Hand; + this.button2.Dock = System.Windows.Forms.DockStyle.Fill; + this.button2.Font = new System.Drawing.Font("맑은 고딕", 10F, System.Drawing.FontStyle.Bold); + this.button2.ForeColor = System.Drawing.Color.Black; + this.button2.Location = new System.Drawing.Point(205, 62); + this.button2.Name = "button2"; + this.button2.Size = new System.Drawing.Size(196, 53); + this.button2.TabIndex = 15; + this.button2.Text = "자석(OFF)"; + this.button2.UseVisualStyleBackColor = false; + this.button2.Click += new System.EventHandler(this.button2_Click); + // // button1 // this.button1.Dock = System.Windows.Forms.DockStyle.Top; @@ -459,6 +507,25 @@ this.groupBox1.TabStop = false; this.groupBox1.Text = "근접센서(PBS)"; // + // radpbs2 + // + this.radpbs2.BackColor = System.Drawing.Color.WhiteSmoke; + this.radpbs2.Bordercolor = System.Drawing.Color.DimGray; + this.radpbs2.BorderRadius = 7; + this.radpbs2.BorderSize = 2; + this.radpbs2.CheckOffColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64))))); + this.radpbs2.CheckOnColor = System.Drawing.Color.LimeGreen; + this.radpbs2.CheckWidth = 30; + this.radpbs2.Dock = System.Windows.Forms.DockStyle.Left; + this.radpbs2.Font = new System.Drawing.Font("맑은 고딕", 14.25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129))); + this.radpbs2.Location = new System.Drawing.Point(278, 19); + this.radpbs2.Name = "radpbs2"; + this.radpbs2.Size = new System.Drawing.Size(119, 66); + this.radpbs2.TabIndex = 10; + this.radpbs2.Text = "On(2)"; + this.radpbs2.TextAlign = System.Drawing.ContentAlignment.MiddleCenter; + this.radpbs2.UseVisualStyleBackColor = false; + // // panel9 // this.panel9.Dock = System.Windows.Forms.DockStyle.Left; @@ -467,6 +534,28 @@ this.panel9.Size = new System.Drawing.Size(15, 66); this.panel9.TabIndex = 12; // + // radpbs1 + // + this.radpbs1.BackColor = System.Drawing.Color.WhiteSmoke; + this.radpbs1.Bordercolor = System.Drawing.Color.DimGray; + this.radpbs1.BorderRadius = 7; + this.radpbs1.BorderSize = 2; + this.radpbs1.Checked = true; + this.radpbs1.CheckOffColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64))))); + this.radpbs1.CheckOnColor = System.Drawing.Color.LimeGreen; + this.radpbs1.CheckWidth = 30; + this.radpbs1.Dock = System.Windows.Forms.DockStyle.Left; + this.radpbs1.Font = new System.Drawing.Font("맑은 고딕", 16F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129))); + this.radpbs1.ForeColor = System.Drawing.Color.Blue; + this.radpbs1.Location = new System.Drawing.Point(144, 19); + this.radpbs1.Name = "radpbs1"; + this.radpbs1.Size = new System.Drawing.Size(119, 66); + this.radpbs1.TabIndex = 9; + this.radpbs1.TabStop = true; + this.radpbs1.Text = "On(1)"; + this.radpbs1.TextAlign = System.Drawing.ContentAlignment.MiddleCenter; + this.radpbs1.UseVisualStyleBackColor = false; + // // panel3 // this.panel3.Dock = System.Windows.Forms.DockStyle.Left; @@ -475,6 +564,25 @@ this.panel3.Size = new System.Drawing.Size(15, 66); this.panel3.TabIndex = 11; // + // radpbs0 + // + this.radpbs0.BackColor = System.Drawing.Color.WhiteSmoke; + this.radpbs0.Bordercolor = System.Drawing.Color.DimGray; + this.radpbs0.BorderRadius = 7; + this.radpbs0.BorderSize = 2; + this.radpbs0.CheckOffColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64))))); + this.radpbs0.CheckOnColor = System.Drawing.Color.LimeGreen; + this.radpbs0.CheckWidth = 30; + this.radpbs0.Dock = System.Windows.Forms.DockStyle.Left; + this.radpbs0.Font = new System.Drawing.Font("맑은 고딕", 14.25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129))); + this.radpbs0.Location = new System.Drawing.Point(10, 19); + this.radpbs0.Name = "radpbs0"; + this.radpbs0.Size = new System.Drawing.Size(119, 66); + this.radpbs0.TabIndex = 8; + this.radpbs0.Text = "Off(0)"; + this.radpbs0.TextAlign = System.Drawing.ContentAlignment.MiddleCenter; + this.radpbs0.UseVisualStyleBackColor = false; + // // grpSpeed // this.grpSpeed.Controls.Add(this.radspdh); @@ -491,6 +599,25 @@ this.grpSpeed.TabStop = false; this.grpSpeed.Text = "속도"; // + // radspdh + // + this.radspdh.BackColor = System.Drawing.Color.WhiteSmoke; + this.radspdh.Bordercolor = System.Drawing.Color.DimGray; + this.radspdh.BorderRadius = 7; + this.radspdh.BorderSize = 2; + this.radspdh.CheckOffColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64))))); + this.radspdh.CheckOnColor = System.Drawing.Color.LimeGreen; + this.radspdh.CheckWidth = 30; + this.radspdh.Dock = System.Windows.Forms.DockStyle.Left; + this.radspdh.Font = new System.Drawing.Font("맑은 고딕", 14.25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129))); + this.radspdh.Location = new System.Drawing.Point(278, 19); + this.radspdh.Name = "radspdh"; + this.radspdh.Size = new System.Drawing.Size(119, 66); + this.radspdh.TabIndex = 2; + this.radspdh.Text = "고속"; + this.radspdh.TextAlign = System.Drawing.ContentAlignment.MiddleCenter; + this.radspdh.UseVisualStyleBackColor = false; + // // panel8 // this.panel8.Dock = System.Windows.Forms.DockStyle.Left; @@ -499,6 +626,28 @@ this.panel8.Size = new System.Drawing.Size(15, 66); this.panel8.TabIndex = 13; // + // radspdm + // + this.radspdm.BackColor = System.Drawing.Color.WhiteSmoke; + this.radspdm.Bordercolor = System.Drawing.Color.DimGray; + this.radspdm.BorderRadius = 7; + this.radspdm.BorderSize = 2; + this.radspdm.Checked = true; + this.radspdm.CheckOffColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64))))); + this.radspdm.CheckOnColor = System.Drawing.Color.LimeGreen; + this.radspdm.CheckWidth = 30; + this.radspdm.Dock = System.Windows.Forms.DockStyle.Left; + this.radspdm.Font = new System.Drawing.Font("맑은 고딕", 16F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129))); + this.radspdm.ForeColor = System.Drawing.Color.Blue; + this.radspdm.Location = new System.Drawing.Point(144, 19); + this.radspdm.Name = "radspdm"; + this.radspdm.Size = new System.Drawing.Size(119, 66); + this.radspdm.TabIndex = 1; + this.radspdm.TabStop = true; + this.radspdm.Text = "중속"; + this.radspdm.TextAlign = System.Drawing.ContentAlignment.MiddleCenter; + this.radspdm.UseVisualStyleBackColor = false; + // // panel4 // this.panel4.Dock = System.Windows.Forms.DockStyle.Left; @@ -507,6 +656,25 @@ this.panel4.Size = new System.Drawing.Size(15, 66); this.panel4.TabIndex = 12; // + // radspdl + // + this.radspdl.BackColor = System.Drawing.Color.WhiteSmoke; + this.radspdl.Bordercolor = System.Drawing.Color.DimGray; + this.radspdl.BorderRadius = 7; + this.radspdl.BorderSize = 2; + this.radspdl.CheckOffColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64))))); + this.radspdl.CheckOnColor = System.Drawing.Color.LimeGreen; + this.radspdl.CheckWidth = 30; + this.radspdl.Dock = System.Windows.Forms.DockStyle.Left; + this.radspdl.Font = new System.Drawing.Font("맑은 고딕", 14.25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129))); + this.radspdl.Location = new System.Drawing.Point(10, 19); + this.radspdl.Name = "radspdl"; + this.radspdl.Size = new System.Drawing.Size(119, 66); + this.radspdl.TabIndex = 0; + this.radspdl.Text = "저속"; + this.radspdl.TextAlign = System.Drawing.ContentAlignment.MiddleCenter; + this.radspdl.UseVisualStyleBackColor = false; + // // grpBunki // this.grpBunki.Controls.Add(this.radright); @@ -523,6 +691,25 @@ this.grpBunki.TabStop = false; this.grpBunki.Text = "분기"; // + // radright + // + this.radright.BackColor = System.Drawing.Color.WhiteSmoke; + this.radright.Bordercolor = System.Drawing.Color.DimGray; + this.radright.BorderRadius = 7; + this.radright.BorderSize = 2; + this.radright.CheckOffColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64))))); + this.radright.CheckOnColor = System.Drawing.Color.LimeGreen; + this.radright.CheckWidth = 30; + this.radright.Dock = System.Windows.Forms.DockStyle.Left; + this.radright.Font = new System.Drawing.Font("맑은 고딕", 14.25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129))); + this.radright.Location = new System.Drawing.Point(278, 19); + this.radright.Name = "radright"; + this.radright.Size = new System.Drawing.Size(119, 66); + this.radright.TabIndex = 4; + this.radright.Text = "우측"; + this.radright.TextAlign = System.Drawing.ContentAlignment.MiddleCenter; + this.radright.UseVisualStyleBackColor = false; + // // panel7 // this.panel7.Dock = System.Windows.Forms.DockStyle.Left; @@ -531,6 +718,28 @@ this.panel7.Size = new System.Drawing.Size(15, 66); this.panel7.TabIndex = 13; // + // radstrai + // + this.radstrai.BackColor = System.Drawing.Color.WhiteSmoke; + this.radstrai.Bordercolor = System.Drawing.Color.DimGray; + this.radstrai.BorderRadius = 7; + this.radstrai.BorderSize = 2; + this.radstrai.Checked = true; + this.radstrai.CheckOffColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64))))); + this.radstrai.CheckOnColor = System.Drawing.Color.LimeGreen; + this.radstrai.CheckWidth = 30; + this.radstrai.Dock = System.Windows.Forms.DockStyle.Left; + this.radstrai.Font = new System.Drawing.Font("맑은 고딕", 16F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129))); + this.radstrai.ForeColor = System.Drawing.Color.Blue; + this.radstrai.Location = new System.Drawing.Point(144, 19); + this.radstrai.Name = "radstrai"; + this.radstrai.Size = new System.Drawing.Size(119, 66); + this.radstrai.TabIndex = 3; + this.radstrai.TabStop = true; + this.radstrai.Text = "직진"; + this.radstrai.TextAlign = System.Drawing.ContentAlignment.MiddleCenter; + this.radstrai.UseVisualStyleBackColor = false; + // // panel5 // this.panel5.Dock = System.Windows.Forms.DockStyle.Left; @@ -539,6 +748,25 @@ this.panel5.Size = new System.Drawing.Size(15, 66); this.panel5.TabIndex = 12; // + // radleft + // + this.radleft.BackColor = System.Drawing.Color.WhiteSmoke; + this.radleft.Bordercolor = System.Drawing.Color.DimGray; + this.radleft.BorderRadius = 7; + this.radleft.BorderSize = 2; + this.radleft.CheckOffColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64))))); + this.radleft.CheckOnColor = System.Drawing.Color.LimeGreen; + this.radleft.CheckWidth = 30; + this.radleft.Dock = System.Windows.Forms.DockStyle.Left; + this.radleft.Font = new System.Drawing.Font("맑은 고딕", 14.25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129))); + this.radleft.Location = new System.Drawing.Point(10, 19); + this.radleft.Name = "radleft"; + this.radleft.Size = new System.Drawing.Size(119, 66); + this.radleft.TabIndex = 5; + this.radleft.Text = "좌측"; + this.radleft.TextAlign = System.Drawing.ContentAlignment.MiddleCenter; + this.radleft.UseVisualStyleBackColor = false; + // // groupBox2 // this.groupBox2.Controls.Add(this.arLabel1); @@ -610,208 +838,6 @@ this.panel12.Size = new System.Drawing.Size(15, 66); this.panel12.TabIndex = 14; // - // panel6 - // - this.panel6.Dock = System.Windows.Forms.DockStyle.Left; - this.panel6.Location = new System.Drawing.Point(129, 19); - this.panel6.Name = "panel6"; - this.panel6.Size = new System.Drawing.Size(15, 66); - this.panel6.TabIndex = 12; - // - // label1 - // - this.label1.BackColor = System.Drawing.Color.Blue; - this.label1.Dock = System.Windows.Forms.DockStyle.Bottom; - this.label1.Font = new System.Drawing.Font("맑은 고딕", 11F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(129))); - this.label1.ForeColor = System.Drawing.Color.White; - this.label1.Location = new System.Drawing.Point(607, 577); - this.label1.Name = "label1"; - this.label1.Padding = new System.Windows.Forms.Padding(0, 3, 0, 3); - this.label1.Size = new System.Drawing.Size(404, 38); - this.label1.TabIndex = 9; - this.label1.Text = "----------"; - this.label1.TextAlign = System.Drawing.ContentAlignment.MiddleCenter; - // - // radpbs2 - // - this.radpbs2.BackColor = System.Drawing.Color.WhiteSmoke; - this.radpbs2.Bordercolor = System.Drawing.Color.DimGray; - this.radpbs2.BorderRadius = 7; - this.radpbs2.BorderSize = 2; - this.radpbs2.CheckOffColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64))))); - this.radpbs2.CheckOnColor = System.Drawing.Color.LimeGreen; - this.radpbs2.CheckWidth = 30; - this.radpbs2.Dock = System.Windows.Forms.DockStyle.Left; - this.radpbs2.Font = new System.Drawing.Font("맑은 고딕", 14.25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129))); - this.radpbs2.Location = new System.Drawing.Point(278, 19); - this.radpbs2.Name = "radpbs2"; - this.radpbs2.Size = new System.Drawing.Size(119, 66); - this.radpbs2.TabIndex = 10; - this.radpbs2.Text = "On(2)"; - this.radpbs2.TextAlign = System.Drawing.ContentAlignment.MiddleCenter; - this.radpbs2.UseVisualStyleBackColor = false; - // - // radpbs1 - // - this.radpbs1.BackColor = System.Drawing.Color.WhiteSmoke; - this.radpbs1.Bordercolor = System.Drawing.Color.DimGray; - this.radpbs1.BorderRadius = 7; - this.radpbs1.BorderSize = 2; - this.radpbs1.Checked = true; - this.radpbs1.CheckOffColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64))))); - this.radpbs1.CheckOnColor = System.Drawing.Color.LimeGreen; - this.radpbs1.CheckWidth = 30; - this.radpbs1.Dock = System.Windows.Forms.DockStyle.Left; - this.radpbs1.Font = new System.Drawing.Font("맑은 고딕", 16F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129))); - this.radpbs1.ForeColor = System.Drawing.Color.Blue; - this.radpbs1.Location = new System.Drawing.Point(144, 19); - this.radpbs1.Name = "radpbs1"; - this.radpbs1.Size = new System.Drawing.Size(119, 66); - this.radpbs1.TabIndex = 9; - this.radpbs1.TabStop = true; - this.radpbs1.Text = "On(1)"; - this.radpbs1.TextAlign = System.Drawing.ContentAlignment.MiddleCenter; - this.radpbs1.UseVisualStyleBackColor = false; - // - // radpbs0 - // - this.radpbs0.BackColor = System.Drawing.Color.WhiteSmoke; - this.radpbs0.Bordercolor = System.Drawing.Color.DimGray; - this.radpbs0.BorderRadius = 7; - this.radpbs0.BorderSize = 2; - this.radpbs0.CheckOffColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64))))); - this.radpbs0.CheckOnColor = System.Drawing.Color.LimeGreen; - this.radpbs0.CheckWidth = 30; - this.radpbs0.Dock = System.Windows.Forms.DockStyle.Left; - this.radpbs0.Font = new System.Drawing.Font("맑은 고딕", 14.25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129))); - this.radpbs0.Location = new System.Drawing.Point(10, 19); - this.radpbs0.Name = "radpbs0"; - this.radpbs0.Size = new System.Drawing.Size(119, 66); - this.radpbs0.TabIndex = 8; - this.radpbs0.Text = "Off(0)"; - this.radpbs0.TextAlign = System.Drawing.ContentAlignment.MiddleCenter; - this.radpbs0.UseVisualStyleBackColor = false; - // - // radspdh - // - this.radspdh.BackColor = System.Drawing.Color.WhiteSmoke; - this.radspdh.Bordercolor = System.Drawing.Color.DimGray; - this.radspdh.BorderRadius = 7; - this.radspdh.BorderSize = 2; - this.radspdh.CheckOffColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64))))); - this.radspdh.CheckOnColor = System.Drawing.Color.LimeGreen; - this.radspdh.CheckWidth = 30; - this.radspdh.Dock = System.Windows.Forms.DockStyle.Left; - this.radspdh.Font = new System.Drawing.Font("맑은 고딕", 14.25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129))); - this.radspdh.Location = new System.Drawing.Point(278, 19); - this.radspdh.Name = "radspdh"; - this.radspdh.Size = new System.Drawing.Size(119, 66); - this.radspdh.TabIndex = 2; - this.radspdh.Text = "고속"; - this.radspdh.TextAlign = System.Drawing.ContentAlignment.MiddleCenter; - this.radspdh.UseVisualStyleBackColor = false; - // - // radspdm - // - this.radspdm.BackColor = System.Drawing.Color.WhiteSmoke; - this.radspdm.Bordercolor = System.Drawing.Color.DimGray; - this.radspdm.BorderRadius = 7; - this.radspdm.BorderSize = 2; - this.radspdm.Checked = true; - this.radspdm.CheckOffColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64))))); - this.radspdm.CheckOnColor = System.Drawing.Color.LimeGreen; - this.radspdm.CheckWidth = 30; - this.radspdm.Dock = System.Windows.Forms.DockStyle.Left; - this.radspdm.Font = new System.Drawing.Font("맑은 고딕", 16F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129))); - this.radspdm.ForeColor = System.Drawing.Color.Blue; - this.radspdm.Location = new System.Drawing.Point(144, 19); - this.radspdm.Name = "radspdm"; - this.radspdm.Size = new System.Drawing.Size(119, 66); - this.radspdm.TabIndex = 1; - this.radspdm.TabStop = true; - this.radspdm.Text = "중속"; - this.radspdm.TextAlign = System.Drawing.ContentAlignment.MiddleCenter; - this.radspdm.UseVisualStyleBackColor = false; - // - // radspdl - // - this.radspdl.BackColor = System.Drawing.Color.WhiteSmoke; - this.radspdl.Bordercolor = System.Drawing.Color.DimGray; - this.radspdl.BorderRadius = 7; - this.radspdl.BorderSize = 2; - this.radspdl.CheckOffColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64))))); - this.radspdl.CheckOnColor = System.Drawing.Color.LimeGreen; - this.radspdl.CheckWidth = 30; - this.radspdl.Dock = System.Windows.Forms.DockStyle.Left; - this.radspdl.Font = new System.Drawing.Font("맑은 고딕", 14.25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129))); - this.radspdl.Location = new System.Drawing.Point(10, 19); - this.radspdl.Name = "radspdl"; - this.radspdl.Size = new System.Drawing.Size(119, 66); - this.radspdl.TabIndex = 0; - this.radspdl.Text = "저속"; - this.radspdl.TextAlign = System.Drawing.ContentAlignment.MiddleCenter; - this.radspdl.UseVisualStyleBackColor = false; - // - // radright - // - this.radright.BackColor = System.Drawing.Color.WhiteSmoke; - this.radright.Bordercolor = System.Drawing.Color.DimGray; - this.radright.BorderRadius = 7; - this.radright.BorderSize = 2; - this.radright.CheckOffColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64))))); - this.radright.CheckOnColor = System.Drawing.Color.LimeGreen; - this.radright.CheckWidth = 30; - this.radright.Dock = System.Windows.Forms.DockStyle.Left; - this.radright.Font = new System.Drawing.Font("맑은 고딕", 14.25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129))); - this.radright.Location = new System.Drawing.Point(278, 19); - this.radright.Name = "radright"; - this.radright.Size = new System.Drawing.Size(119, 66); - this.radright.TabIndex = 4; - this.radright.Text = "우측"; - this.radright.TextAlign = System.Drawing.ContentAlignment.MiddleCenter; - this.radright.UseVisualStyleBackColor = false; - // - // radstrai - // - this.radstrai.BackColor = System.Drawing.Color.WhiteSmoke; - this.radstrai.Bordercolor = System.Drawing.Color.DimGray; - this.radstrai.BorderRadius = 7; - this.radstrai.BorderSize = 2; - this.radstrai.Checked = true; - this.radstrai.CheckOffColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64))))); - this.radstrai.CheckOnColor = System.Drawing.Color.LimeGreen; - this.radstrai.CheckWidth = 30; - this.radstrai.Dock = System.Windows.Forms.DockStyle.Left; - this.radstrai.Font = new System.Drawing.Font("맑은 고딕", 16F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129))); - this.radstrai.ForeColor = System.Drawing.Color.Blue; - this.radstrai.Location = new System.Drawing.Point(144, 19); - this.radstrai.Name = "radstrai"; - this.radstrai.Size = new System.Drawing.Size(119, 66); - this.radstrai.TabIndex = 3; - this.radstrai.TabStop = true; - this.radstrai.Text = "직진"; - this.radstrai.TextAlign = System.Drawing.ContentAlignment.MiddleCenter; - this.radstrai.UseVisualStyleBackColor = false; - // - // radleft - // - this.radleft.BackColor = System.Drawing.Color.WhiteSmoke; - this.radleft.Bordercolor = System.Drawing.Color.DimGray; - this.radleft.BorderRadius = 7; - this.radleft.BorderSize = 2; - this.radleft.CheckOffColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64))))); - this.radleft.CheckOnColor = System.Drawing.Color.LimeGreen; - this.radleft.CheckWidth = 30; - this.radleft.Dock = System.Windows.Forms.DockStyle.Left; - this.radleft.Font = new System.Drawing.Font("맑은 고딕", 14.25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129))); - this.radleft.Location = new System.Drawing.Point(10, 19); - this.radleft.Name = "radleft"; - this.radleft.Size = new System.Drawing.Size(119, 66); - this.radleft.TabIndex = 5; - this.radleft.Text = "좌측"; - this.radleft.TextAlign = System.Drawing.ContentAlignment.MiddleCenter; - this.radleft.UseVisualStyleBackColor = false; - // // radbackward // this.radbackward.BackColor = System.Drawing.Color.WhiteSmoke; @@ -831,6 +857,14 @@ this.radbackward.TextAlign = System.Drawing.ContentAlignment.MiddleCenter; this.radbackward.UseVisualStyleBackColor = false; // + // panel6 + // + this.panel6.Dock = System.Windows.Forms.DockStyle.Left; + this.panel6.Location = new System.Drawing.Point(129, 19); + this.panel6.Name = "panel6"; + this.panel6.Size = new System.Drawing.Size(15, 66); + this.panel6.TabIndex = 12; + // // radforward // this.radforward.BackColor = System.Drawing.Color.WhiteSmoke; @@ -853,6 +887,20 @@ this.radforward.TextAlign = System.Drawing.ContentAlignment.MiddleCenter; this.radforward.UseVisualStyleBackColor = false; // + // label1 + // + this.label1.BackColor = System.Drawing.Color.Blue; + this.label1.Dock = System.Windows.Forms.DockStyle.Bottom; + this.label1.Font = new System.Drawing.Font("맑은 고딕", 11F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(129))); + this.label1.ForeColor = System.Drawing.Color.White; + this.label1.Location = new System.Drawing.Point(607, 577); + this.label1.Name = "label1"; + this.label1.Padding = new System.Windows.Forms.Padding(0, 3, 0, 3); + this.label1.Size = new System.Drawing.Size(404, 38); + this.label1.TabIndex = 9; + this.label1.Text = "----------"; + this.label1.TextAlign = System.Drawing.ContentAlignment.MiddleCenter; + // // guideSensor1 // this.guideSensor1.Dock = System.Windows.Forms.DockStyle.Top; @@ -865,54 +913,6 @@ this.guideSensor1.TabIndex = 8; this.guideSensor1.Text = "guideSensor1"; // - // btBack180 - // - this.btBack180.BackColor = System.Drawing.Color.WhiteSmoke; - this.btBack180.Cursor = System.Windows.Forms.Cursors.Hand; - this.btBack180.Dock = System.Windows.Forms.DockStyle.Fill; - this.btBack180.Font = new System.Drawing.Font("맑은 고딕", 10F, System.Drawing.FontStyle.Bold); - this.btBack180.ForeColor = System.Drawing.Color.Black; - this.btBack180.Location = new System.Drawing.Point(205, 3); - this.btBack180.Name = "btBack180"; - this.btBack180.Size = new System.Drawing.Size(196, 53); - this.btBack180.TabIndex = 15; - this.btBack180.Text = "백후 180도 회전 (Left)"; - this.btBack180.UseVisualStyleBackColor = false; - this.btBack180.Click += new System.EventHandler(this.btBack180_Click); - // - // tableLayoutPanel2 - // - this.tableLayoutPanel2.ColumnCount = 2; - this.tableLayoutPanel2.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 50F)); - this.tableLayoutPanel2.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 50F)); - this.tableLayoutPanel2.Controls.Add(this.btBack180, 1, 0); - this.tableLayoutPanel2.Controls.Add(this.btLeft180, 0, 0); - this.tableLayoutPanel2.Controls.Add(this.btRight180, 0, 1); - this.tableLayoutPanel2.Controls.Add(this.button2, 1, 1); - this.tableLayoutPanel2.Dock = System.Windows.Forms.DockStyle.Fill; - this.tableLayoutPanel2.Location = new System.Drawing.Point(0, 438); - this.tableLayoutPanel2.Name = "tableLayoutPanel2"; - this.tableLayoutPanel2.RowCount = 2; - this.tableLayoutPanel2.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 50F)); - this.tableLayoutPanel2.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 50F)); - this.tableLayoutPanel2.Size = new System.Drawing.Size(404, 118); - this.tableLayoutPanel2.TabIndex = 12; - // - // button2 - // - this.button2.BackColor = System.Drawing.Color.WhiteSmoke; - this.button2.Cursor = System.Windows.Forms.Cursors.Hand; - this.button2.Dock = System.Windows.Forms.DockStyle.Fill; - this.button2.Font = new System.Drawing.Font("맑은 고딕", 10F, System.Drawing.FontStyle.Bold); - this.button2.ForeColor = System.Drawing.Color.Black; - this.button2.Location = new System.Drawing.Point(205, 62); - this.button2.Name = "button2"; - this.button2.Size = new System.Drawing.Size(196, 53); - this.button2.TabIndex = 15; - this.button2.Text = "백후 180도 회전(Right)"; - this.button2.UseVisualStyleBackColor = false; - this.button2.Click += new System.EventHandler(this.button2_Click); - // // fManual // this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.None; @@ -930,11 +930,11 @@ this.VisibleChanged += new System.EventHandler(this.fManual_VisibleChanged); this.tableLayoutPanel1.ResumeLayout(false); this.panel2.ResumeLayout(false); + this.tableLayoutPanel2.ResumeLayout(false); this.groupBox1.ResumeLayout(false); this.grpSpeed.ResumeLayout(false); this.grpBunki.ResumeLayout(false); this.groupBox2.ResumeLayout(false); - this.tableLayoutPanel2.ResumeLayout(false); this.ResumeLayout(false); } diff --git a/Cs_HMI/Project/ViewForm/fManual.cs b/Cs_HMI/Project/ViewForm/fManual.cs index 312f7f2..0a2dfb9 100644 --- a/Cs_HMI/Project/ViewForm/fManual.cs +++ b/Cs_HMI/Project/ViewForm/fManual.cs @@ -200,7 +200,7 @@ namespace Project.ViewForm if (dlg != DialogResult.Yes) return; var opt = makeopt(); PUB.AGV.AGVMoveSet(opt); - PUB.AGV.AGVMoveRun(); + PUB.AGV.AGVMoveRun(opt.Direction == arDev.Narumi.eMoveDir.Forward ? arDev.Narumi.eRunOpt.Forward : arDev.Narumi.eRunOpt.Backward); } else { @@ -392,12 +392,12 @@ namespace Project.ViewForm private void btBack180_Click(object sender, EventArgs e) { //[STX] C T B 0 0 0 0 9 9 [ETX] - PUB.AGV.AGVMoveBack180Turn(true); + PUB.AGV.LiftControl(arDev.Narumi.LiftCommand.ON);// (;// (true); } private void button2_Click(object sender, EventArgs e) { - PUB.AGV.AGVMoveBack180Turn(false); + PUB.AGV.LiftControl(arDev.Narumi.LiftCommand.OFF); } } }