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Commit 599f085c 由 LN
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夹爪使用修改： 

1.设备复位时夹爪需要回原点，然后到放松状态。
2.夹爪放松改为绝对位置运动方式，默认位置为1
3.夹爪调试界面增加位置和出力显示。
1 个父辈 842f751e
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内嵌 并排
正在显示 9 个修改的文件 包含 138 行增加 和 46 行删除
source/AssemblyLineClient/FrmFeedingEquip.Designer.cs
...@@ -749,7 +749,7 @@ ...@@ -749,7 +749,7 @@
// //
this.clampJawControl1.Location = new System.Drawing.Point(462, 422); this.clampJawControl1.Location = new System.Drawing.Point(462, 422);
this.clampJawControl1.Name = "clampJawControl1"; this.clampJawControl1.Name = "clampJawControl1";
this.clampJawControl1.Size = new System.Drawing.Size(239, 167); this.clampJawControl1.Size = new System.Drawing.Size(507, 167);
this.clampJawControl1.TabIndex = 280; this.clampJawControl1.TabIndex = 280;
// //
// tabPage2 // tabPage2
......
source/AssemblyLineClient/FrmFeedingEquip.cs
...@@ -104,6 +104,7 @@ namespace OnlineStore.AssemblyLine ...@@ -104,6 +104,7 @@ namespace OnlineStore.AssemblyLine
{ {
return; return;
} }
clampJawControl1.UpdateSta();
ReadIOList(); ReadIOList();
ReadBtnDO(); ReadBtnDO();
BatchTimerPro(); BatchTimerPro();
......
source/AssemblyLineClient/FrmMoveEquip.cs
...@@ -86,7 +86,7 @@ namespace OnlineStore.AssemblyLine ...@@ -86,7 +86,7 @@ namespace OnlineStore.AssemblyLine
foreach (ConfigIO ioValue in equipBean.Config.DIList.Values) foreach (ConfigIO ioValue in equipBean.Config.DIList.Values)
{ {
this.tableLayoutPanel1.RowStyles.Add(new RowStyle(SizeType.Absolute, 28)); this.tableLayoutPanel1.RowStyles.Add(new RowStyle(SizeType.Absolute, 28));
IOTextControl control = new IOTextControl(ioValue.ElectricalDefinition + "_" + ioValue.Explain, ioValue.ProName); IOTextControl control = new IOTextControl(ioValue.ElectricalDefinition + "_" + ioValue.Explain, ioValue.ProName,220);
this.tableLayoutPanel1.Controls.Add(control, 0, roleindex); this.tableLayoutPanel1.Controls.Add(control, 0, roleindex);
roleindex++; roleindex++;
DIControlList.Add(ioValue.ProName, control); DIControlList.Add(ioValue.ProName, control);
...@@ -98,7 +98,7 @@ namespace OnlineStore.AssemblyLine ...@@ -98,7 +98,7 @@ namespace OnlineStore.AssemblyLine
foreach (ConfigIO ioValue in equipBean.Config.DOList.Values) foreach (ConfigIO ioValue in equipBean.Config.DOList.Values)
{ {
this.tableLayoutPanel2.RowStyles.Add(new RowStyle(SizeType.Absolute, 28)); this.tableLayoutPanel2.RowStyles.Add(new RowStyle(SizeType.Absolute, 28));
IOTextControl control = new IOTextControl(ioValue.ElectricalDefinition + "_" + ioValue.Explain, ioValue.ProName); IOTextControl control = new IOTextControl(ioValue.ElectricalDefinition + "_" + ioValue.Explain, ioValue.ProName,220);
control.Click += Control_Click; control.Click += Control_Click;
this.tableLayoutPanel2.Controls.Add(control, 0, roleindex); this.tableLayoutPanel2.Controls.Add(control, 0, roleindex);
roleindex++; roleindex++;
...@@ -134,7 +134,7 @@ namespace OnlineStore.AssemblyLine ...@@ -134,7 +134,7 @@ namespace OnlineStore.AssemblyLine
ReadIOList(); ReadIOList();
ReadBtnDO(); ReadBtnDO();
clampJawControl1.UpdateSta();
lblName.BackColor = equipBean.GetShowColor(); lblName.BackColor = equipBean.GetShowColor();
if (equipBean.runStatus > LineRunStatus.Wait) if (equipBean.runStatus > LineRunStatus.Wait)
{ {
......
source/AssemblyLineClient/useControl/ClampJawControl.Designer.cs
...@@ -31,10 +31,13 @@ namespace OnlineStore.AssemblyLine.useControl ...@@ -31,10 +31,13 @@ namespace OnlineStore.AssemblyLine.useControl
{ {
this.groupClamp = new System.Windows.Forms.GroupBox(); this.groupClamp = new System.Windows.Forms.GroupBox();
this.linkLabel1 = new System.Windows.Forms.LinkLabel(); this.linkLabel1 = new System.Windows.Forms.LinkLabel();
this.chbEmpty = new System.Windows.Forms.CheckBox();
this.chbPosition = new System.Windows.Forms.CheckBox();
this.btnClampWork = new System.Windows.Forms.Button(); this.btnClampWork = new System.Windows.Forms.Button();
this.btnClampRelax = new System.Windows.Forms.Button(); this.btnClampRelax = new System.Windows.Forms.Button();
this.lblForce = new System.Windows.Forms.Label();
this.lblPosition = new System.Windows.Forms.Label();
this.lblMoveOk = new System.Windows.Forms.Label();
this.btnHome = new System.Windows.Forms.Button();
this.lblEmpty = new System.Windows.Forms.Label();
this.groupClamp.SuspendLayout(); this.groupClamp.SuspendLayout();
this.SuspendLayout(); this.SuspendLayout();
// //
...@@ -43,15 +46,18 @@ namespace OnlineStore.AssemblyLine.useControl ...@@ -43,15 +46,18 @@ namespace OnlineStore.AssemblyLine.useControl
this.groupClamp.Anchor = ((System.Windows.Forms.AnchorStyles)((((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Bottom) this.groupClamp.Anchor = ((System.Windows.Forms.AnchorStyles)((((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Bottom)
| System.Windows.Forms.AnchorStyles.Left) | System.Windows.Forms.AnchorStyles.Left)
| System.Windows.Forms.AnchorStyles.Right))); | System.Windows.Forms.AnchorStyles.Right)));
this.groupClamp.Controls.Add(this.lblEmpty);
this.groupClamp.Controls.Add(this.btnHome);
this.groupClamp.Controls.Add(this.lblMoveOk);
this.groupClamp.Controls.Add(this.lblPosition);
this.groupClamp.Controls.Add(this.lblForce);
this.groupClamp.Controls.Add(this.linkLabel1); this.groupClamp.Controls.Add(this.linkLabel1);
this.groupClamp.Controls.Add(this.chbEmpty);
this.groupClamp.Controls.Add(this.chbPosition);
this.groupClamp.Controls.Add(this.btnClampWork); this.groupClamp.Controls.Add(this.btnClampWork);
this.groupClamp.Controls.Add(this.btnClampRelax); this.groupClamp.Controls.Add(this.btnClampRelax);
this.groupClamp.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134))); this.groupClamp.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.groupClamp.Location = new System.Drawing.Point(7, 4); this.groupClamp.Location = new System.Drawing.Point(7, 4);
this.groupClamp.Name = "groupClamp"; this.groupClamp.Name = "groupClamp";
this.groupClamp.Size = new System.Drawing.Size(218, 158); this.groupClamp.Size = new System.Drawing.Size(266, 146);
this.groupClamp.TabIndex = 283; this.groupClamp.TabIndex = 283;
this.groupClamp.TabStop = false; this.groupClamp.TabStop = false;
this.groupClamp.Text = "夹爪操作"; this.groupClamp.Text = "夹爪操作";
...@@ -60,7 +66,7 @@ namespace OnlineStore.AssemblyLine.useControl ...@@ -60,7 +66,7 @@ namespace OnlineStore.AssemblyLine.useControl
// //
this.linkLabel1.AutoSize = true; this.linkLabel1.AutoSize = true;
this.linkLabel1.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134))); this.linkLabel1.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.linkLabel1.Location = new System.Drawing.Point(167, 121); this.linkLabel1.Location = new System.Drawing.Point(159, 115);
this.linkLabel1.Name = "linkLabel1"; this.linkLabel1.Name = "linkLabel1";
this.linkLabel1.Size = new System.Drawing.Size(37, 20); this.linkLabel1.Size = new System.Drawing.Size(37, 20);
this.linkLabel1.TabIndex = 285; this.linkLabel1.TabIndex = 285;
...@@ -68,36 +74,14 @@ namespace OnlineStore.AssemblyLine.useControl ...@@ -68,36 +74,14 @@ namespace OnlineStore.AssemblyLine.useControl
this.linkLabel1.Text = "查询"; this.linkLabel1.Text = "查询";
this.linkLabel1.LinkClicked += new System.Windows.Forms.LinkLabelLinkClickedEventHandler(this.linkLabel1_LinkClicked); this.linkLabel1.LinkClicked += new System.Windows.Forms.LinkLabelLinkClickedEventHandler(this.linkLabel1_LinkClicked);
// //
// chbEmpty
//
this.chbEmpty.AutoSize = true;
this.chbEmpty.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.chbEmpty.Location = new System.Drawing.Point(102, 120);
this.chbEmpty.Name = "chbEmpty";
this.chbEmpty.Size = new System.Drawing.Size(56, 24);
this.chbEmpty.TabIndex = 284;
this.chbEmpty.Text = "空抓";
this.chbEmpty.UseVisualStyleBackColor = true;
//
// chbPosition
//
this.chbPosition.AutoSize = true;
this.chbPosition.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.chbPosition.Location = new System.Drawing.Point(9, 120);
this.chbPosition.Name = "chbPosition";
this.chbPosition.Size = new System.Drawing.Size(84, 24);
this.chbPosition.TabIndex = 283;
this.chbPosition.Text = "运动到位";
this.chbPosition.UseVisualStyleBackColor = true;
//
// btnClampWork // btnClampWork
// //
this.btnClampWork.BackColor = System.Drawing.Color.White; this.btnClampWork.BackColor = System.Drawing.Color.White;
this.btnClampWork.FlatStyle = System.Windows.Forms.FlatStyle.Flat; this.btnClampWork.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
this.btnClampWork.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134))); this.btnClampWork.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.btnClampWork.Location = new System.Drawing.Point(29, 69); this.btnClampWork.Location = new System.Drawing.Point(18, 104);
this.btnClampWork.Name = "btnClampWork"; this.btnClampWork.Name = "btnClampWork";
this.btnClampWork.Size = new System.Drawing.Size(140, 34); this.btnClampWork.Size = new System.Drawing.Size(120, 34);
this.btnClampWork.TabIndex = 282; this.btnClampWork.TabIndex = 282;
this.btnClampWork.Text = "夹料气缸夹紧"; this.btnClampWork.Text = "夹料气缸夹紧";
this.btnClampWork.UseVisualStyleBackColor = false; this.btnClampWork.UseVisualStyleBackColor = false;
...@@ -108,20 +92,69 @@ namespace OnlineStore.AssemblyLine.useControl ...@@ -108,20 +92,69 @@ namespace OnlineStore.AssemblyLine.useControl
this.btnClampRelax.BackColor = System.Drawing.Color.White; this.btnClampRelax.BackColor = System.Drawing.Color.White;
this.btnClampRelax.FlatStyle = System.Windows.Forms.FlatStyle.Flat; this.btnClampRelax.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
this.btnClampRelax.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134))); this.btnClampRelax.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.btnClampRelax.Location = new System.Drawing.Point(29, 27); this.btnClampRelax.Location = new System.Drawing.Point(18, 64);
this.btnClampRelax.Name = "btnClampRelax"; this.btnClampRelax.Name = "btnClampRelax";
this.btnClampRelax.Size = new System.Drawing.Size(140, 34); this.btnClampRelax.Size = new System.Drawing.Size(120, 34);
this.btnClampRelax.TabIndex = 281; this.btnClampRelax.TabIndex = 281;
this.btnClampRelax.Text = "夹料气缸放松"; this.btnClampRelax.Text = "夹料气缸放松";
this.btnClampRelax.UseVisualStyleBackColor = false; this.btnClampRelax.UseVisualStyleBackColor = false;
this.btnClampRelax.Click += new System.EventHandler(this.btnClampRelax_Click); this.btnClampRelax.Click += new System.EventHandler(this.btnClampRelax_Click);
// //
// lblForce
//
this.lblForce.AutoSize = true;
this.lblForce.Location = new System.Drawing.Point(159, 19);
this.lblForce.Name = "lblForce";
this.lblForce.Size = new System.Drawing.Size(68, 17);
this.lblForce.TabIndex = 286;
this.lblForce.Text = "实时出力：";
//
// lblPosition
//
this.lblPosition.AutoSize = true;
this.lblPosition.Location = new System.Drawing.Point(159, 43);
this.lblPosition.Name = "lblPosition";
this.lblPosition.Size = new System.Drawing.Size(68, 17);
this.lblPosition.TabIndex = 287;
this.lblPosition.Text = "实时位置：";
//
// lblMoveOk
//
this.lblMoveOk.AutoSize = true;
this.lblMoveOk.Location = new System.Drawing.Point(159, 91);
this.lblMoveOk.Name = "lblMoveOk";
this.lblMoveOk.Size = new System.Drawing.Size(68, 17);
this.lblMoveOk.TabIndex = 288;
this.lblMoveOk.Text = "运动到位？";
//
// btnHome
//
this.btnHome.BackColor = System.Drawing.Color.White;
this.btnHome.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
this.btnHome.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.btnHome.Location = new System.Drawing.Point(18, 24);
this.btnHome.Name = "btnHome";
this.btnHome.Size = new System.Drawing.Size(120, 34);
this.btnHome.TabIndex = 289;
this.btnHome.Text = "夹爪回原点";
this.btnHome.UseVisualStyleBackColor = false;
this.btnHome.Click += new System.EventHandler(this.btnHome_Click);
//
// lblEmpty
//
this.lblEmpty.AutoSize = true;
this.lblEmpty.Location = new System.Drawing.Point(159, 67);
this.lblEmpty.Name = "lblEmpty";
this.lblEmpty.Size = new System.Drawing.Size(44, 17);
this.lblEmpty.TabIndex = 290;
this.lblEmpty.Text = "有料？";
//
// ClampJawControl // ClampJawControl
// //
this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.None; this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.None;
this.Controls.Add(this.groupClamp); this.Controls.Add(this.groupClamp);
this.Name = "ClampJawControl"; this.Name = "ClampJawControl";
this.Size = new System.Drawing.Size(231, 167); this.Size = new System.Drawing.Size(279, 155);
this.Load += new System.EventHandler(this.ClampJawControl_Load); this.Load += new System.EventHandler(this.ClampJawControl_Load);
this.groupClamp.ResumeLayout(false); this.groupClamp.ResumeLayout(false);
this.groupClamp.PerformLayout(); this.groupClamp.PerformLayout();
...@@ -134,8 +167,11 @@ namespace OnlineStore.AssemblyLine.useControl ...@@ -134,8 +167,11 @@ namespace OnlineStore.AssemblyLine.useControl
private System.Windows.Forms.GroupBox groupClamp; private System.Windows.Forms.GroupBox groupClamp;
private System.Windows.Forms.Button btnClampWork; private System.Windows.Forms.Button btnClampWork;
private System.Windows.Forms.Button btnClampRelax; private System.Windows.Forms.Button btnClampRelax;
private System.Windows.Forms.CheckBox chbEmpty;
private System.Windows.Forms.CheckBox chbPosition;
private System.Windows.Forms.LinkLabel linkLabel1; private System.Windows.Forms.LinkLabel linkLabel1;
private System.Windows.Forms.Label lblPosition;
private System.Windows.Forms.Label lblForce;
private System.Windows.Forms.Label lblMoveOk;
private System.Windows.Forms.Button btnHome;
private System.Windows.Forms.Label lblEmpty;
} }
} }
source/AssemblyLineClient/useControl/ClampJawControl.cs
...@@ -35,8 +35,30 @@ namespace OnlineStore.AssemblyLine.useControl ...@@ -35,8 +35,30 @@ namespace OnlineStore.AssemblyLine.useControl
private void linkLabel1_LinkClicked(object sender, LinkLabelLinkClickedEventArgs e) private void linkLabel1_LinkClicked(object sender, LinkLabelLinkClickedEventArgs e)
{ {
chbPosition.Checked = clampJaw.IsReached(); UpdateSta();
chbEmpty.Checked =! clampJaw.HasReel(); }
public void UpdateSta()
{
if (clampJaw.IsReached())
{
lblMoveOk.Text = "运动到位 ✔";
}
else
{
lblMoveOk.Text = " ";
}
if (clampJaw.HasReel())
{
lblEmpty.Text = "有料 ✔";
}
else
{
lblEmpty.Text = "无料";
}
lblPosition.Text = "实时位置：" + clampJaw.GetPosition();
lblForce.Text = "实时出力：" + clampJaw.GetTorque();
} }
private void btnClampRelax_Click(object sender, EventArgs e) private void btnClampRelax_Click(object sender, EventArgs e)
...@@ -50,5 +72,11 @@ namespace OnlineStore.AssemblyLine.useControl ...@@ -50,5 +72,11 @@ namespace OnlineStore.AssemblyLine.useControl
LogUtil.info(JName + "界面点击：" + btnClampRelax.Text); LogUtil.info(JName + "界面点击：" + btnClampRelax.Text);
clampJaw.Push(); clampJaw.Push();
} }
private void btnHome_Click(object sender, EventArgs e)
{
LogUtil.info(JName + "界面点击：" + btnHome.Text);
clampJaw.GoHome();
}
} }
} }
source/DeviceLibrary/assemblyLine/FeedingEquip.cs
...@@ -132,7 +132,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -132,7 +132,7 @@ namespace OnlineStore.DeviceLibrary
//夹紧气缸放松 //夹紧气缸放松
//CylinderMove(null, IO_Type.SL_ClampCylinder_Work, IO_Type.SL_ClampCylinder_Relax); //CylinderMove(null, IO_Type.SL_ClampCylinder_Work, IO_Type.SL_ClampCylinder_Relax);
ClampJwa.Relax(); ClampJwa.GoHome();
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_Entry_StopDown, IO_VALUE.LOW)); MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_Entry_StopDown, IO_VALUE.LOW));
//MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_Buffer_StopDown, IO_VALUE.LOW)); //MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_Buffer_StopDown, IO_VALUE.LOW));
...@@ -164,7 +164,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -164,7 +164,7 @@ namespace OnlineStore.DeviceLibrary
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(time)); MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(time));
//线体开始转动 //线体开始转动
AllLineMove(IO_VALUE.HIGH); AllLineMove(IO_VALUE.HIGH);
ClampJwa.Relax();
break; break;
case LineMoveStep.FR_02_LineRun: case LineMoveStep.FR_02_LineRun:
MoveInfo.NextMoveStep(LineMoveStep.FR_03_CylinderUp); MoveInfo.NextMoveStep(LineMoveStep.FR_03_CylinderUp);
......
source/DeviceLibrary/assemblyLine/MoveEquip.cs
...@@ -120,8 +120,9 @@ namespace OnlineStore.DeviceLibrary ...@@ -120,8 +120,9 @@ namespace OnlineStore.DeviceLibrary
{ {
case LineMoveStep.MH_01_UpDownHome: case LineMoveStep.MH_01_UpDownHome:
MoveInfo.NextMoveStep(LineMoveStep.MH_02_CylinderUp); MoveInfo.NextMoveStep(LineMoveStep.MH_02_CylinderUp);
DebugInfo(MoveInfo.MoveType + " ： 升降轴走到待机点"); DebugInfo(MoveInfo.MoveType + " ： 升降轴走到待机点，夹爪回原点");
UpdownUpMove(); UpdownUpMove();
ClampJwa.GoHome(MoveInfo);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000)); MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
break; break;
case LineMoveStep.MH_02_CylinderUp: case LineMoveStep.MH_02_CylinderUp:
......
source/DeviceLibrary/baan/ClampJawBean.cs
...@@ -35,7 +35,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -35,7 +35,7 @@ namespace OnlineStore.DeviceLibrary
bool result = rmaxis.OpenPort(config.PortName, config.AxisNo); bool result = rmaxis.OpenPort(config.PortName, config.AxisNo);
if (!result) if (!result)
{ {
LogUtil.error(Name + " OpenPort 失败："+rmaxis.ErrorCode ); LogUtil.error(Name + " OpenPort 失败");
} }
} }
return rmaxis.IsPortOpen; return rmaxis.IsPortOpen;
...@@ -86,7 +86,18 @@ namespace OnlineStore.DeviceLibrary ...@@ -86,7 +86,18 @@ namespace OnlineStore.DeviceLibrary
{ {
if (rmaxis != null && rmaxis.IsPortOpen) if (rmaxis != null && rmaxis.IsPortOpen)
{ {
rmaxis.GoHome( ); rmaxis.MoveAbsolute(1);
}
if (moveInfo != null)
{
moveInfo.WaitList.Add(WaitResultInfo.WaitClampReached(1));
}
}
public void GoHome(LineMoveInfo moveInfo = null)
{
if (rmaxis != null && rmaxis.IsPortOpen)
{
rmaxis.GoHome();
} }
if (moveInfo != null) if (moveInfo != null)
{ {
...@@ -94,5 +105,20 @@ namespace OnlineStore.DeviceLibrary ...@@ -94,5 +105,20 @@ namespace OnlineStore.DeviceLibrary
} }
} }
public float GetPosition()
{
return rmaxis.GetPosition();
}
public float GetTorque()
{
return rmaxis.GetTorque();
}
public void PushTest(float force, float distance)
{
if (rmaxis != null && rmaxis.IsPortOpen)
{
rmaxis.Push(force, distance, config.Velocity);
}
}
} }
} }
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