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Commit 5891b202 由 张东亮
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1 个父辈 d73a3e68
内嵌 并排
正在显示 1 个修改的文件 包含 7 行增加 和 4 行删除
DeviceLibrary/theMachine/MainMachine_AGV.cs
...@@ -205,7 +205,7 @@ namespace DeviceLibrary ...@@ -205,7 +205,7 @@ namespace DeviceLibrary
break; break;
case MoveStep.AGV_In04: case MoveStep.AGV_In04:
AGVMoveInfo.NextMoveStep(MoveStep.AGV_In05); AGVMoveInfo.NextMoveStep(MoveStep.AGV_In05);
Line.LineRun("n", false, 10); Line.LineRun("n", false, 30);
AGVMoveInfo.log($"收到AGV的{NodeStatus.RequestEnter}信号，允许进料"); AGVMoveInfo.log($"收到AGV的{NodeStatus.RequestEnter}信号，允许进料");
break; break;
case MoveStep.AGV_In05: case MoveStep.AGV_In05:
...@@ -216,6 +216,7 @@ namespace DeviceLibrary ...@@ -216,6 +216,7 @@ namespace DeviceLibrary
AGVMoveInfo.NextMoveStep(MoveStep.AGV_In06); AGVMoveInfo.NextMoveStep(MoveStep.AGV_In06);
RobotManage.mainMachine.SetStatus(NodeStatus.FinishEnter); RobotManage.mainMachine.SetStatus(NodeStatus.FinishEnter);
AGVMoveInfo.log($"料串到位"); AGVMoveInfo.log($"料串到位");
Line.LineRun("n", true, 3);
AGVMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(5000)); AGVMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(5000));
} }
else else
...@@ -271,7 +272,7 @@ namespace DeviceLibrary ...@@ -271,7 +272,7 @@ namespace DeviceLibrary
break; break;
case MoveStep.AGV_Out04: case MoveStep.AGV_Out04:
AGVMoveInfo.NextMoveStep(MoveStep.AGV_Out05); AGVMoveInfo.NextMoveStep(MoveStep.AGV_Out05);
Line.LineRun("n", true, 10); Line.LineRun("n", true, 30);
AGVMoveInfo.log($"收到AGV的{NodeStatus.RequestLeave}信号，允许出料"); AGVMoveInfo.log($"收到AGV的{NodeStatus.RequestLeave}信号，允许出料");
break; break;
case MoveStep.AGV_Out05: case MoveStep.AGV_Out05:
...@@ -303,7 +304,7 @@ namespace DeviceLibrary ...@@ -303,7 +304,7 @@ namespace DeviceLibrary
AGVMoveInfo.NextMoveStep(MoveStep.AGV_In03); AGVMoveInfo.NextMoveStep(MoveStep.AGV_In03);
RobotManage.mainMachine.SetStatus(NodeStatus.MayEnter); RobotManage.mainMachine.SetStatus(NodeStatus.MayEnter);
CylinderMove(AGVMoveInfo, IO_Type.StringFix_Bottom, IO_Type.StringFix_Top, IO_VALUE.LOW); CylinderMove(AGVMoveInfo, IO_Type.StringFix_Bottom, IO_Type.StringFix_Top, IO_VALUE.LOW);
Line.LineRun("n", false, 30); Line.LineRun("n", false, 2);
AGVMoveInfo.log($"收到AGV的{NodeStatus.RequestEnter}信号，无料串，允许进料"); AGVMoveInfo.log($"收到AGV的{NodeStatus.RequestEnter}信号，无料串，允许进料");
} }
else if (curnode.status == NodeStatus.RequestLeave) else if (curnode.status == NodeStatus.RequestLeave)
...@@ -311,7 +312,7 @@ namespace DeviceLibrary ...@@ -311,7 +312,7 @@ namespace DeviceLibrary
AGVMoveInfo.NextMoveStep(MoveStep.AGV_Out03); AGVMoveInfo.NextMoveStep(MoveStep.AGV_Out03);
RobotManage.mainMachine.SetStatus(NodeStatus.MayLeave); RobotManage.mainMachine.SetStatus(NodeStatus.MayLeave);
CylinderMove(AGVMoveInfo, IO_Type.StringFix_Bottom, IO_Type.StringFix_Top, IO_VALUE.LOW); CylinderMove(AGVMoveInfo, IO_Type.StringFix_Bottom, IO_Type.StringFix_Top, IO_VALUE.LOW);
Line.LineRun("n", true, 20); Line.LineRun("n", true, 2);
AGVMoveInfo.log($"收到AGV的{NodeStatus.RequestLeave}信号，有料串，允许出料"); AGVMoveInfo.log($"收到AGV的{NodeStatus.RequestLeave}信号，有料串，允许出料");
} }
else if (curnode.status.Equals(NodeStatus.RequsetDock)) else if (curnode.status.Equals(NodeStatus.RequsetDock))
...@@ -327,12 +328,14 @@ namespace DeviceLibrary ...@@ -327,12 +328,14 @@ namespace DeviceLibrary
{ {
AGVMoveInfo.NextMoveStep(MoveStep.AGV_CloseDoor); AGVMoveInfo.NextMoveStep(MoveStep.AGV_CloseDoor);
CloseDoor(AGVMoveInfo); CloseDoor(AGVMoveInfo);
Line.LineRun("n", true, 3);
AGVMoveInfo.log($"收到脱离脱离信号，关闭折叠门"); AGVMoveInfo.log($"收到脱离脱离信号，关闭折叠门");
} }
else if (AGVMoveInfo.IsTimeOut()) else if (AGVMoveInfo.IsTimeOut())
{ {
if (StringDoor.isAtBOTTOM) if (StringDoor.isAtBOTTOM)
{ {
Line.LineRun("n", true, 3);
AGVMoveInfo.NextMoveStep(MoveStep.AGV_CloseDoor); AGVMoveInfo.NextMoveStep(MoveStep.AGV_CloseDoor);
CloseDoor(AGVMoveInfo); CloseDoor(AGVMoveInfo);
AGVMoveInfo.log($"收到脱离脱离信号超时，关闭折叠门"); AGVMoveInfo.log($"收到脱离脱离信号超时，关闭折叠门");
......
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