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Commit 43074bca 由 LN
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料架离开时bug修改

1 个父辈 e57b923e
内嵌 并排
正在显示 2 个修改的文件 包含 17 行增加 和 17 行删除
DeviceLibrary/theMachine/OutShelfBean.cs
......@@ -238,7 +238,7 @@ namespace DeviceLibrary
AgvClient.SetToNone(agvId, agvName);
LineFRun();
//等待后端料格检测
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(Shelf_Front_Check, IO_VALUE.HIGH));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(Shelf_Back_Check, IO_VALUE.HIGH));
}
else if (IOManager.IOValue(Agv_Detect).Equals(IO_VALUE.HIGH))
{
......@@ -249,7 +249,7 @@ namespace DeviceLibrary
AgvClient.SetToNone(agvId, agvName);
LineFRun();
//等待后端料格检测
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(Shelf_Front_Check, IO_VALUE.HIGH));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(Shelf_Back_Check, IO_VALUE.HIGH));
}
else
{
......@@ -280,11 +280,11 @@ namespace DeviceLibrary
break;
case MoveStep.S02_LineFRun:
MoveInfo.NextMoveStep(MoveStep.S04_WaitTime);
MoveInfo.log("检测到料架前端信号，再转动1秒钟");
MoveInfo.log("检测到料架后端信号，再转动2秒钟");
LineFRun();
//等待后端料格检测
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(Shelf_Front_Check, IO_VALUE.HIGH));
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(Shelf_Back_Check, IO_VALUE.HIGH));
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
break;
case MoveStep.S04_WaitTime:
......@@ -483,9 +483,9 @@ namespace DeviceLibrary
//出料口定位下降端,
private string Location_Down = "Location_Down";
//电机正传
private static string Moto_Fwd = "Moto_Fwd";
private string Moto_Fwd = "Moto_Fwd";
//电机反转
private static string Moto_Rwd = "Moto_Rwd";
private string Moto_Rwd = "Moto_Rwd";
private void LineFRun(MoveInfo move = null)
{
lineMove(IO_VALUE.LOW, IO_VALUE.HIGH, move);
......
DeviceLibrary/theMachine/OutShelfBean_AgvPro.cs
......@@ -136,23 +136,23 @@ namespace DeviceLibrary
ProcessShelfOut = true;
LineRRun();
bool result = WaitIo(Shelf_Front_Check, IO_VALUE.LOW, 60000);
bool result = WaitIo(Shelf_Back_Check, IO_VALUE.LOW, 60000);
if (!result)
{
LogUtil.info(logName + " 等待 " + Shelf_Front_Check + "=LOW超时，等待60000后停止线体转动，发送FinishLeave");
LogUtil.info(logName + " 等待 " + Shelf_Back_Check + "=LOW超时，等待60000后停止线体转动，发送FinishLeave");
}
else
{
LogUtil.info(logName + " 已收到" + Shelf_Front_Check + "=LOW ，等待60000后停止线体转动，发送FinishLeave");
LogUtil.info(logName + " 已收到" + Shelf_Back_Check + "=LOW ，等待60000后停止线体转动，发送FinishLeave");
}
result = WaitIo(Shelf_Back_Check, IO_VALUE.LOW, 60000);
result = WaitIo(Shelf_Front_Check, IO_VALUE.LOW, 60000);
if (!result)
{
LogUtil.info(logName + " 等待 " + Shelf_Back_Check + "=LOW超时，等待60000后停止线体转动，发送FinishLeave");
LogUtil.info(logName + " 等待 " + Shelf_Front_Check + "=LOW超时，等待60000后停止线体转动，发送FinishLeave");
}
else
{
LogUtil.info(logName + " 已收到" + Shelf_Back_Check + "=LOW ，等待60000后停止线体转动，发送FinishLeave");
LogUtil.info(logName + " 已收到" + Shelf_Front_Check + "=LOW ，等待60000后停止线体转动，发送FinishLeave");
}
Thread.Sleep(8000);
LineStopRun();
......@@ -198,13 +198,13 @@ namespace DeviceLibrary
bool result = false;
//等待进料检测信号
result = WaitIo(Shelf_Back_Check, IO_VALUE.HIGH, 600000, logName + "等待" + Shelf_Back_Check + "信号");
result = WaitIo(Shelf_Front_Check, IO_VALUE.HIGH, 600000, logName + "等待" + Shelf_Front_Check + "信号");
LogUtil.info(logName + " 等待 " + Shelf_Back_Check + "=High 结果： " + result + "， 开始等待 " + Shelf_Front_Check + " 信号");
LogUtil.info(logName + " 等待 " + Shelf_Front_Check + "=High 结果： " + result + "， 开始等待 " + Shelf_Front_Check + " 信号");
result = WaitIo(Shelf_Front_Check, IO_VALUE.HIGH, 600000, logName + "等待" + Shelf_Front_Check + "信号");
result = WaitIo(Shelf_Back_Check, IO_VALUE.HIGH, 600000, logName + "等待" + Shelf_Back_Check + "信号");
LogUtil.info(logName + " 等待 " + Shelf_Front_Check + "=High 结果： " + result + "，开始等待 FinishEnter 超时10分钟");
LogUtil.info(logName + " 等待 " + Shelf_Back_Check + "=High 结果： " + result + "，开始等待 FinishEnter 超时10分钟");
try
{
result = WaitUtil.Wait(600000, delegate ()
......
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