From 6fc65c5cf54432d1044fbe9799aca76f7273798c Mon Sep 17 00:00:00 2001
From: LAPTOP-SNT8I5JK\Boounion <Chenluhua@qq.com>
Date: 星期五, 23 五月 2025 18:02:27 +0800
Subject: [PATCH] Merge branch 'clh'
---
SourceCode/Bond/Servo/CEFEM.h | 17 +++++++++++++++++
1 files changed, 17 insertions(+), 0 deletions(-)
diff --git a/SourceCode/Bond/Servo/CEFEM.h b/SourceCode/Bond/Servo/CEFEM.h
index c038fbe..d8a4e1b 100644
--- a/SourceCode/Bond/Servo/CEFEM.h
+++ b/SourceCode/Bond/Servo/CEFEM.h
@@ -40,6 +40,23 @@
int robotCmd(ROBOT_CMD_PARAM& robotCmdParam, ONWRITED onWritedBlock = nullptr);
int robotCmds(ROBOT_CMD_PARAM* robotCmdParam, unsigned int count, ONWRITED onWritedBlock = nullptr);
+ // 快捷封装
+ int SendHome(int seq);
+ int SendTransfer(int seq, int armNo, int fromPos, int toPos, int fromSlot, int toSlot);
+ int SendMoveToGet(int seq, int armNo, int pos, int slot);
+ int SendMoveToPut(int seq, int armNo, int pos, int slot);
+ int SendGet(int seq, int armNo, int pos, int slot);
+ int SendPut(int seq, int armNo, int pos, int slot);
+ int SendExchange(int seq, int armNo, int pos, int getSlot, int putSlot);
+ int SendCommandClear(int seq);
+ int SendBatchGet(int seq, int getPos, int getSlot);
+ int SendBatchPut(int seq, int putPos, int putSlot);
+ int SendMoveToGetAndHome(int seq, int armNo, int getPos, int getSlot);
+ int SendMoveToPutAndHome(int seq, int armNo, int putPos, int putSlot);
+ int SendTransferAndHome(int seq, int armNo, int fromPos, int toPos, int fromSlot, int toSlot);
+ int SendGetAndPut(int seq, int armNo, int getPos, int getSlot, int putPos, int putSlot);
+ int SendPutAndHome(int seq, int armNo, int putPos, int putSlot);
+
private:
CLoadPort* m_pPort[4];
CAligner* m_pAligner;
--
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