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

대기상태일때 자동멈춤기능 다시 활성화

Browse Source 
remotecontrol 모드 추가, 원격으로 turn, manual, auto 이동시 활성화된다.. 내부코드는 없음. 상태만 추가함, idle 상태일때 자동 멈춤코드가 동작하지 않게 하기 위함이다.
This commit is contained in:
ChiKyun Kim
2026-02-09 08:37:39 +09:00
parent ddaab0b5da
commit f5f08de0b9
4 changed files with 27 additions and 10 deletions
Download Patch File Download Diff File Expand all files Collapse all files

6
HMI/Project/StateMachine/_Xbee.cs
View File

@@ -266,19 +266,23 @@ namespace Project
case ENIGProtocol.AGVCommandHE.LTurn180:
PUB.log.Add($"[{logPrefix}-LTurn180]");
PUB.sm.SetNewRunStep(ERunStep.REMOTECONTROL);
PUB.AGV.AGVMoveLeft180Turn();
break;
case ENIGProtocol.AGVCommandHE.RTurn180:
PUB.log.Add($"[{logPrefix}-RTurn180]");
PUB.sm.SetNewRunStep(ERunStep.REMOTECONTROL);
PUB.AGV.AGVMoveRight180Turn();
break;
case ENIGProtocol.AGVCommandHE.LTurn:
PUB.log.Add($"[{logPrefix}-LTurn]");
PUB.sm.SetNewRunStep(ERunStep.REMOTECONTROL);
PUB.AGV.AGVMoveManual(arDev.Narumi.ManulOpt.LT, arDev.Narumi.Speed.Low, arDev.Narumi.Sensor.AllOn);
break;
case ENIGProtocol.AGVCommandHE.RTurn:
PUB.log.Add($"[{logPrefix}-RTurn]");
PUB.sm.SetNewRunStep(ERunStep.REMOTECONTROL);
PUB.AGV.AGVMoveManual(arDev.Narumi.ManulOpt.RT, arDev.Narumi.Speed.Low, arDev.Narumi.Sensor.AllOn);
break;
case ENIGProtocol.AGVCommandHE.Stop: //stop
@@ -292,6 +296,7 @@ namespace Project
case ENIGProtocol.AGVCommandHE.Manual: //Manual Move (Direction, speed, runtime)
Resultclear();
PUB.sm.SetNewRunStep(ERunStep.REMOTECONTROL);
var Direction = data[1]; //0=back, 1=forward, 2=left, 3=right
var Speed = data[2]; //0=slow, 1=normal, 2=fast
@@ -313,6 +318,7 @@ namespace Project
case ENIGProtocol.AGVCommandHE.AutoMove:
Resultclear();
PUB.sm.SetNewRunStep(ERunStep.REMOTECONTROL);
var MotDirection = data[1]; //0=back, 1=forward
var MagDirection = data[2]; //0=straight, 1=left, 2=right
var AutSpeed = data[3]; //0=slow, 1=normal, 2=fast