initial commit

Handler/Project/RunCode/Step/_STEP_HOME_DELAY.cs

@@ -0,0 +1,55 @@
+using AR;
+using System;
+using System.Collections.Generic;
+using System.Drawing;
+using System.Linq;
+using System.Text;
+
+namespace Project
+{
+    public partial class FMain
+    {
+
+        public void _STEP_HOME_DELAY_START(eSMStep step)
+        {
+            //각 파트의 초기 값을 설정해준다.
+            DIO.SetBuzzer(false);
+
+            //홈이완료되었으므로 3초정도 기다려준다.
+            PUB.log.AddAT("Timer started for home completion confirmation");
+            HomeSuccessTime = DateTime.Now;
+        }
+
+        public StepResult _STEP_HOME_DELAY(eSMStep step, TimeSpan stepTime, TimeSpan seqTime)
+        {
+            //*********************
+            //**    하드웨어 조건 확인
+            //*********************
+            if (CheckHomeProcess_HW_Available(false) == false)
+            {
+                return StepResult.Error;
+            }
+
+            var tsHome = DateTime.Now - HomeSuccessTime;
+            if (tsHome.TotalSeconds >= 3.0)
+            {
+                if (PUB.mot.HasMoving == false)
+                {
+                    //모든축의 위치를 0으로 한다
+                    //Pub.mot.ClearPosition();
+
+                    //각 파트의 초기 값을 설정해준다.
+                    DIO.SetBuzzer(false);
+
+                    PUB.flag.set(eVarBool.FG_USERSTEP, false, "SM_HOME");
+                    PUB.log.AddI("Moving to home verification code due to home operation completion");
+
+                    HomeChkTime = DateTime.Now;
+                    PUB.sm.SetNewStep(eSMStep.HOME_CONFIRM);
+                }
+            }
+            return StepResult.Wait;
+        }
+
+    }
+}