From fd1333fbf52e00ff8f0b0d51ec0d707a66cc9141 Mon Sep 17 00:00:00 2001
From: LAPTOP-SNT8I5JK\Boounion <Chenluhua@qq.com>
Date: 星期一, 16 六月 2025 11:20:16 +0800
Subject: [PATCH] 1.Robot状态和位置的监控，其中两个arm状态(是否有料)，也作为调度的依据。
---
SourceCode/Bond/Servo/CEFEM.h | 2 ++
1 files changed, 2 insertions(+), 0 deletions(-)
diff --git a/SourceCode/Bond/Servo/CEFEM.h b/SourceCode/Bond/Servo/CEFEM.h
index b01036f..aade245 100644
--- a/SourceCode/Bond/Servo/CEFEM.h
+++ b/SourceCode/Bond/Servo/CEFEM.h
@@ -39,6 +39,7 @@
void setArmTray(unsigned int index, CArmTray* pArmTray);
int robotCmd(ROBOT_CMD_PARAM& robotCmdParam, ONWRITED onWritedBlock = nullptr);
int robotCmds(ROBOT_CMD_PARAM* robotCmdParam, unsigned int count, ONWRITED onWritedBlock = nullptr);
+ RMDATA& getRobotMonitoringData();
// 快捷封装
int robotSendHome(int seq, ONWRITED onWritedBlock = nullptr);
@@ -62,6 +63,7 @@
CAligner* m_pAligner;
CFliper* m_pFliper;
CArmTray* m_pArmTray[2];
+ RMDATA m_robotData;
};
}
--
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