| | |
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| | | virtual void term(); |
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| | | virtual void initPins(); |
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| | | virtual void initSteps(); |
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| | | virtual int onStepEvent(CStep* pStep, int code); |
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| | | virtual void onTimer(UINT nTimerid); |
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| | | virtual void serialize(CArchive& ar); |
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| | | virtual void getAttributeVector(CAttributeVector& attrubutes); |
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| | |
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| | | int robotCmd(ROBOT_CMD_PARAM& robotCmdParam, ONWRITED onWritedBlock = nullptr); |
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| | | int robotCmds(ROBOT_CMD_PARAM* robotCmdParam, unsigned int count, ONWRITED onWritedBlock = nullptr); |
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| | | |
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| | | // 快捷封装 |
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| | | int SendHome(int seq); |
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| | | int SendTransfer(int seq, int armNo, int fromPos, int toPos, int fromSlot, int toSlot); |
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| | | int SendMoveToGet(int seq, int armNo, int pos, int slot); |
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| | | int SendMoveToPut(int seq, int armNo, int pos, int slot); |
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| | | int SendGet(int seq, int armNo, int pos, int slot); |
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| | | int SendPut(int seq, int armNo, int pos, int slot); |
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| | | int SendExchange(int seq, int armNo, int pos, int getSlot, int putSlot); |
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| | | int SendCommandClear(int seq); |
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| | | int SendBatchGet(int seq, int getPos, int getSlot); |
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| | | int SendBatchPut(int seq, int putPos, int putSlot); |
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| | | int SendMoveToGetAndHome(int seq, int armNo, int getPos, int getSlot); |
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| | | int SendMoveToPutAndHome(int seq, int armNo, int putPos, int putSlot); |
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| | | int SendTransferAndHome(int seq, int armNo, int fromPos, int toPos, int fromSlot, int toSlot); |
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| | | int SendGetAndPut(int seq, int armNo, int getPos, int getSlot, int putPos, int putSlot); |
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| | | int SendPutAndHome(int seq, int armNo, int putPos, int putSlot); |
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| | | |
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| | | private: |
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| | | CLoadPort* m_pPort[4]; |
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| | | CAligner* m_pAligner; |
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