//public void UnloadAndLoad(TargetPosition target, RackGripper gripper)
//{
// CheckGripperAvailable(gripper);
// MoveToTargetPosition(gripper, target);
// CloseGripper(gripper);
// MoveToPointTillEnd(Motion.MotorZ, target.ApproachHeight); //Up.
// ChangeGripper(target, ref gripper); //Switch gripper.
// MoveToPointTillEnd(Motion.MotorZ, target.ZPos); //Down.
// OpenGripper(gripper);
// MoveToPointTillEnd(Motion.MotorZ, target.ApproachHeight); //Up.
// YRetractFromBox();
//}
public void UnloadAndLoad(ShieldBox box, RackGripper gripper, bool closeBox)
{
OnInfoOccured(20025, "Try unload and load box: " + box.Id + " with " + gripper + ".");
CheckGripperAvailable(gripper);
if (box.IsClosed() == true)
{
throw new Exception("Box " + box.Id + " is not opened.");
}
MoveToTargetPosition(gripper, box.Position, false);
CloseGripper(gripper);
Motion.ToPoint(Motion.MotorZ, box.Position.ZPos + 50);
Motion.WaitTillZBiggerThan(box.Position.ZPos + 30);
ChangeGripper(box.Position, ref gripper); //Switch gripper.
Motion.WaitTillEnd(Motion.MotorZ);
CheckPhoneLost(gripper);
//Slip in phone.
Task.Run(() => {
Stopwatch stopwatch = new Stopwatch();
stopwatch.Start();
while (stopwatch.ElapsedMilliseconds < 5000)
{
if (Motion.GetPosition(Motion.MotorZ) < box.Position.ZPos + SlipInHeight)
{
try
{
OpenGripper(gripper);
}
catch (Exception)
{
break;
}
}
Delay(5);
}
});
MoveToPointTillEnd(Motion.MotorZ, box.Position.ZPos); //Down.
OpenGripper(gripper);
MoveToPointTillEnd(Motion.MotorZ, box.Position.ApproachHeight); //Up.
if (closeBox)
{
CloseBoxAsync(box);
}
YRetractFromBox();
OnInfoOccured(20025, "Finish unload and load box: " + box.Id + " with " + gripper + ".");
}
public void Unload(RackGripper gripper, TargetPosition target)
{
ShieldBox box = ConverterTeachPosToShieldBox(target.TeachPos);
if (box != null)
{
if (box.IsClosed())
{
throw new Exception("Cant unload, box is not opened.");
}
}
CheckGripperAvailable(gripper);
MoveToTargetPosition(gripper, target, false);
CloseGripper(gripper);
MoveToPointTillEnd(Motion.MotorZ, target.ApproachHeight);
YRetractFromBox();
}
public void Load(RackGripper gripper, ShieldBox box, bool closeBox)
{
OnInfoOccured(20023, "Try loading phone to box:" + box.Id + " with " + gripper + ".");
TargetPosition target = ConvertShieldBoxToTargetPosition(box);
if (box.IsClosed() == true)
{
throw new Exception("Box " + box.Id + " is not opened");
}
MoveToTargetPosition(gripper, target, true);
OpenGripper(gripper);
MoveToPointTillEnd(Motion.MotorZ, target.ApproachHeight);
if (closeBox)
{
CloseBoxAsync(box);
}
YRetractFromBox();
OnInfoOccured(20023, "Finish loading phone to box:" + box.Id + ".");
}
/// <summary>
/// From current target position.
/// </summary>
/// <param name="gripper"></param>
/// <param name="phone"></param>
public void Unload(RackGripper gripper, Phone phone)
{
OnInfoOccured(20018, "Try unloading phone:" + phone.Id + " with " + gripper + ".");
ShieldBox box = ConverterTeachPosToShieldBox(phone.CurrentTargetPosition.TeachPos);
if (box != null)
{
if (box.IsClosed())
{
throw new Exception("Cant unload, box is not opened.");
}
}
TargetPosition pos = phone.CurrentTargetPosition;
MoveToTargetPosition(gripper, pos, false);
CloseGripper(gripper);
MoveToPointTillEnd(Motion.MotorZ, pos.ApproachHeight);
YRetractFromBox();
CheckPhoneLost(gripper);
OnInfoOccured(20018, "Finish unloading phone:" + phone.Id);
}
