public void Pick(Gripper gripper)
{
if (_conveyor.ReadyForPicking)
{
_conveyor.ReadyForPicking = false;
}
else
{
throw new Exception("Phone is not ready.");
}
if (gripper == Gripper.One)
{
if (!_io.GetInput(Input.Gripper01Loose))
{
throw new Exception("Gripper one is not opened.");
}
}
else
{
if (!_io.GetInput(Input.Gripper02Loose))
{
throw new Exception("Gripper two is not opened.");
}
}
//If system is OK, gripper is free and opened, conveyor is ready
//If the other gripper is holding a phone, then conveyor can not reload.
MoveToTargetPosition(gripper, _motion.PickPosition);
//Close cylinder.
CloseGripper(gripper);
_motion.ToPointWaitTillEnd(_motion.MotorZ, _motion.PickPosition.ApproachHeight);
//Check.
}
public void SetCylinder(Output output, Input input, bool sensorState = true, int timeout = 1000)
{
var stopwatch = new Stopwatch();
stopwatch.Start();
while (_io.GetInput(input) != sensorState)
{
if (stopwatch.ElapsedMilliseconds > timeout)
{
throw new Exception("SetCylinder " + output + " timeout");
}
_io.SetOutput(output, true);
}
}