From 4897210a25e7c98ddacb1fa4ecee3e8bdd1ae98e Mon Sep 17 00:00:00 2001
From: LAPTOP-SNT8I5JK\Boounion <Chenluhua@qq.com>
Date: 星期四, 12 六月 2025 14:18:16 +0800
Subject: [PATCH] 1.手臂选择匹配问题，
---
SourceCode/Bond/Servo/CMaster.cpp | 17 ++++++++---------
1 files changed, 8 insertions(+), 9 deletions(-)
diff --git a/SourceCode/Bond/Servo/CMaster.cpp b/SourceCode/Bond/Servo/CMaster.cpp
index 37fefe6..4eca70d 100644
--- a/SourceCode/Bond/Servo/CMaster.cpp
+++ b/SourceCode/Bond/Servo/CMaster.cpp
@@ -284,7 +284,6 @@
// Bonder1和Bonder2需要的G2就过不来了
// 最基本的实现，可以G2和G2轮流搬送，但最好根据Bonder的需求来决定
MaterialsType primaryType, secondaryType;
- int armNo = 1; // 默认使用手臂2
// 各种机器
@@ -387,7 +386,7 @@
if (pEqLoadPort[s]->isEnable()
&& pEqLoadPort[s]->getPortType() == PortType::Unloading
&& pEqLoadPort[s]->getPortMode() == PortMode::ReadyToUnload) {
- m_pActiveRobotTask = createTransferTask(pMeasurement, pEqLoadPort[s], primaryType, secondaryType, armNo);
+ m_pActiveRobotTask = createTransferTask(pMeasurement, pEqLoadPort[s], primaryType, secondaryType);
if (m_pActiveRobotTask != nullptr) {
goto PORT_PUT;
}
@@ -463,7 +462,7 @@
// Fliper(G2) -> Bonder
// VacuumBake(G1) -> Bonder
- m_pActiveRobotTask = createTransferTask(pFliper, pBonder1, primaryType, secondaryType, armNo);
+ m_pActiveRobotTask = createTransferTask(pFliper, pBonder1, primaryType, secondaryType, 2);
if (m_pActiveRobotTask != nullptr) {
m_pActiveRobotTask->run();
std::string strDescription = m_pActiveRobotTask->getDescription();
@@ -475,7 +474,7 @@
continue;
}
- m_pActiveRobotTask = createTransferTask(pFliper, pBonder2, primaryType, secondaryType, armNo);
+ m_pActiveRobotTask = createTransferTask(pFliper, pBonder2, primaryType, secondaryType, 2);
if (m_pActiveRobotTask != nullptr) {
m_pActiveRobotTask->run();
std::string strDescription = m_pActiveRobotTask->getDescription();
@@ -487,7 +486,7 @@
continue;
}
- m_pActiveRobotTask = createTransferTask(pVacuumBake, pBonder1, primaryType, secondaryType, armNo);
+ m_pActiveRobotTask = createTransferTask(pVacuumBake, pBonder1, primaryType, secondaryType);
if (m_pActiveRobotTask != nullptr) {
m_pActiveRobotTask->run();
std::string strDescription = m_pActiveRobotTask->getDescription();
@@ -499,7 +498,7 @@
continue;
}
- m_pActiveRobotTask = createTransferTask(pVacuumBake, pBonder2, primaryType, secondaryType, armNo);
+ m_pActiveRobotTask = createTransferTask(pVacuumBake, pBonder2, primaryType, secondaryType);
if (m_pActiveRobotTask != nullptr) {
m_pActiveRobotTask->run();
std::string strDescription = m_pActiveRobotTask->getDescription();
@@ -513,7 +512,7 @@
// Aligner -> Fliper(G2)
// Aligner -> VacuumBake(G1)
- m_pActiveRobotTask = createTransferTask(pAligner, pFliper, primaryType, secondaryType, armNo);
+ m_pActiveRobotTask = createTransferTask(pAligner, pFliper, primaryType, secondaryType, 2);
if (m_pActiveRobotTask != nullptr) {
m_pActiveRobotTask->run();
std::string strDescription = m_pActiveRobotTask->getDescription();
@@ -525,7 +524,7 @@
continue;
}
- m_pActiveRobotTask = createTransferTask(pAligner, pVacuumBake, primaryType, secondaryType, armNo);
+ m_pActiveRobotTask = createTransferTask(pAligner, pVacuumBake, primaryType, secondaryType);
if (m_pActiveRobotTask != nullptr) {
m_pActiveRobotTask->run();
std::string strDescription = m_pActiveRobotTask->getDescription();
@@ -543,7 +542,7 @@
if (pEqLoadPort[s]->isEnable()
&& pEqLoadPort[s]->getPortType() == PortType::Loading
&& pEqLoadPort[s]->getPortMode() == PortMode::ReadyToLoad) {
- m_pActiveRobotTask = createTransferTask(pEqLoadPort[s], pAligner, primaryType, secondaryType, armNo);
+ m_pActiveRobotTask = createTransferTask(pEqLoadPort[s], pAligner, primaryType, secondaryType);
if (m_pActiveRobotTask != nullptr) {
goto PORT_GET;
}
--
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