From 1efb832676e8ad27e7a495dba6ffc19479e0c76f Mon Sep 17 00:00:00 2001
From: LAPTOP-SNT8I5JK\Boounion <Chenluhua@qq.com>
Date: 星期四, 04 九月 2025 15:51:33 +0800
Subject: [PATCH] 1.机器配方参数的获取；
---
SourceCode/Bond/Servo/CRobotTask.cpp | 24 +++++++++++++++++++-----
1 files changed, 19 insertions(+), 5 deletions(-)
diff --git a/SourceCode/Bond/Servo/CRobotTask.cpp b/SourceCode/Bond/Servo/CRobotTask.cpp
index 582e63c..1b4a1aa 100644
--- a/SourceCode/Bond/Servo/CRobotTask.cpp
+++ b/SourceCode/Bond/Servo/CRobotTask.cpp
@@ -220,7 +220,7 @@
LOGI(_T("RobotTask已下发到EFEM"));
}
else {
- LOGI(_T("RobotTask已下发失败"));
+ LOGI(_T("RobotTask下发失败"));
}
return 0;
@@ -284,6 +284,17 @@
return 0;
});
+ }
+
+ void CRobotTask::resend()
+ {
+ // 重新下发命令，无非是下发取料或下发放料的命令，根据当前状态来
+ if (ROBOT_TASK_STATE::Picking == m_state || ROBOT_TASK_STATE::Picked == m_state) {
+ pick();
+ }
+ else if (ROBOT_TASK_STATE::Placing == m_state) {
+ place();
+ }
}
void CRobotTask::completed()
@@ -359,6 +370,9 @@
case EQ_ID_LOADPORT2:
case EQ_ID_LOADPORT3:
case EQ_ID_LOADPORT4:
+ tarPos = srcPos;
+ tarSlot = srcSlot;
+ break;
case EQ_ID_ARM_TRAY1:
case EQ_ID_ARM_TRAY2:
case EQ_ID_ALIGNER:
@@ -368,25 +382,25 @@
break;
case EQ_ID_Bonder1:
if (1 <= srcSlot && srcSlot <= 2) {
- tarPos = 9 + srcSlot;
+ tarPos = 9 + srcSlot - 1;
tarSlot = 1;
}
break;
case EQ_ID_Bonder2:
if (1 <= srcSlot && srcSlot <= 2) {
- tarPos = 11 + srcSlot;
+ tarPos = 11 + srcSlot - 1;
tarSlot = 1;
}
break;
case EQ_ID_VACUUMBAKE:
if (1 <= srcSlot && srcSlot <= 2) {
- tarPos = 13 + srcSlot;
+ tarPos = 13 + srcSlot - 1;
tarSlot = 1;
}
break;
case EQ_ID_BAKE_COOLING:
if (1 <= srcSlot && srcSlot <= 4) {
- tarPos = 15 + srcSlot;
+ tarPos = 15 + srcSlot - 1;
tarSlot = 1;
}
break;
--
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