public void Setup()
{
MotorX = _mc.MotorLX;
MotorY = _mc.MotorLY;
MotorZ = _mc.MotorLZ;
MotorA = _mc.MotorLRotateLoad;
LoadTray = new Tray()
{
RowCount = 4,
ColumneCount = 12,
XOffset = 15.0,
YOffset = 15.0,
CurrentPart = new Part()
{
CapturePos = GetCapturePosition(CaptureId.LTrayPickTop),
TargetPose = new Pose()
{
},
},
BaseCapturePosition = GetCapturePosition(CaptureId.LTrayPickTop),
YIncreaseDirection = 1,
};
ResetPreparation();
}
/// <summary>
/// Motor setup and tray info setup.
/// </summary>
public void Setup()
{
MotorX = _mc.MotorVX;
MotorY = _mc.MotorVY;
MotorZ = _mc.MotorVZ;
MotorA = _mc.MotorVRotateLoad;
MotorAUnload = _mc.MotorVRotateUnload;
LoadTray = new Tray()
{
RowCount = 5,
ColumneCount = 5,
XOffset = 18.5,
YOffset = 18.5,
BaseCapturePosition = GetCapturePosition(CaptureId.VTrayPickTop),
CurrentPart = new Part()
{
CapturePos = GetCapturePosition(CaptureId.VTrayPickTop),
TargetPose = new Pose(),
},
YIncreaseDirection = -1,
};
UnloadTray = new Tray()
{
RowCount = 5,
ColumneCount = 5,
XOffset = 18.5,
YOffset = 18.5,
BaseCapturePosition = GetCapturePosition(CaptureId.VTrayPlaceTop),
CurrentPart = new Part()
{
CapturePos = GetCapturePosition(CaptureId.VTrayPickTop),
TargetPose = new Pose(),
},
};
//Set as a simulate mode.
var tempState = VisionSimulateMode;
VisionSimulateMode = true;
UnloadTray.CurrentPart.TargetPose = GetVisionResult(UnloadTray.CurrentPart.CapturePos);
VisionSimulateMode = tempState;
UnloadTray.TrayHeight = UnloadTrayHeight;
Preparation = Helper.DummyAsyncTask();
ChangeLoadTray = Helper.DummyAsyncTask();
ChangeUnloadTray = Helper.DummyAsyncTask();
}
