From 55dea22443cf5be586cab68a0cff1d8fb7de9a9e Mon Sep 17 00:00:00 2001
From: LAPTOP-SNT8I5JK\Boounion <Chenluhua@qq.com>
Date: 星期五, 05 九月 2025 09:20:43 +0800
Subject: [PATCH] 1.修复加工好的玻璃放回原处仍被取走的问题。
---
SourceCode/Bond/Servo/CRobotTask.cpp | 16 +++++++++++++++-
1 files changed, 15 insertions(+), 1 deletions(-)
diff --git a/SourceCode/Bond/Servo/CRobotTask.cpp b/SourceCode/Bond/Servo/CRobotTask.cpp
index b549782..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:
--
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