/// <summary> 回到 CB1 HOME</summary> /// <param name="instance"></param> public static void TurnToCB2Home(this MacHalBoxTransfer instance) { var pathFileObj = new BoxrobotTransferPathFile(PositionInstance.BTR_Path); string path = pathFileObj.Cabinet02HomePathFile(); instance.Move(path); }
public Ut001_002_004_005() { try { DrawerKeys = HalDrawerExtends.DrawerKeys; DrawerLocations = HalDrawerExtends.DrawerLocations; PositionInstance.Load(); // 在這裏載入所有(Boxtransfer 及 Masktransfer)的路徑點位資料 pathFileObj = new BoxrobotTransferPathFile(PositionInstance.BTR_Path); HalContext = MacHalContextExtends.Create_MacHalContext_Instance(); HalUniversal = HalContext.GetUniversalAssembly(); HalOpenStage = HalContext.GetOpenStageAssembly(); HalBoxTransfer = HalContext.GetBoxTransferAssembly(); HalUniversal.HalConnect(); HalOpenStage.HalConnect(); HalBoxTransfer.HalConnect(); // Initial // HalOpenStage.ReadRobotIntrude(false, false); HalOpenStage.Initial(); HalBoxTransfer.Initial(); HalBoxTransfer.TurnOffCameraLight(); } catch (Exception ex) { InitialError = true; InitialErrorMessage = ex.Message; } // HalBoxTransfer.TurnToCB1Home(); }
BoxrobotTransferPathFile pathFileObj;//= new BoxrobotTransferPathFile(PositionInstance.BTR_Path); public Ut001_BT() { DrawerKeys = HalDrawerExtends.DrawerKeys; DrawerLocations = HalDrawerExtends.DrawerLocations; PositionInstance.Load(); // 在這裏載入所有(Boxtransfer 及 Masktransfer)的路徑點位資料 pathFileObj = new BoxrobotTransferPathFile(PositionInstance.BTR_Path); }
public void TestFilePath() { PositionInstance.Load(); // 在這裏載入所有(Boxtransfer 及 Masktransfer)的路徑點位資料 pathFileObj = new BoxrobotTransferPathFile(PositionInstance.BTR_Path); var path00 = pathFileObj.GetFromCabinetHomeToDrawerGetPath(BoxrobotTransferLocation.Drawer_01_01); var path01 = pathFileObj.GetFromCabinetHomeToDrawerPutPath(BoxrobotTransferLocation.Drawer_01_01); var path02 = pathFileObj.GetFromCabinetHomeToDrawerGetPath(BoxrobotTransferLocation.Drawer_04_01); var path03 = pathFileObj.GetFromCabinetHomeToDrawerPutPath(BoxrobotTransferLocation.Drawer_04_01); //pathFileObj = new BoxrobotTransferPathFile(PositionInstance.BTR_Path); var path04 = pathFileObj.GetFromDrawerToCabitnetHomeGetPath(BoxrobotTransferLocation.Drawer_01_01); var path05 = pathFileObj.GetFromDrawerToCabitnetHomePutPath(BoxrobotTransferLocation.Drawer_01_01); var path06 = pathFileObj.GetFromDrawerToCabitnetHomeGetPath(BoxrobotTransferLocation.Drawer_04_01); var path07 = pathFileObj.GetFromDrawerToCabitnetHomePutPath(BoxrobotTransferLocation.Drawer_04_01); }
public static string GetFromCabinetHomeToDrawerPutPath(this BoxrobotTransferPathFile instance, BoxrobotTransferLocation drawerLocation) { var drawerHome = drawerLocation.GetCabinetHomeCode(); if (drawerHome.Item1 == false) { return(""); } if (drawerHome.Item2 == BoxrobotTransferLocation.Cabinet_01_Home) { var path = instance.FromCabinet01HomeToDrawer_PUT_PathFile(drawerLocation); return(path); } else// if(drawerHome.Item2 == BoxrobotTransferLocation.Cabinet_02_Home) { var path = instance.FromCabinet02HomeToDrawer_PUT_PathFile(drawerLocation); return(path); } }
BoxrobotTransferPathFile pathFileObj;//= new BoxrobotTransferPathFile(PositionInstance.BTR_Path); public Ut023_OS() { PositionInstance.Load(); // 在這裏載入所有(Boxtransfer 及 Masktransfer)的路徑點位資料 pathFileObj = new BoxrobotTransferPathFile(PositionInstance.BTR_Path); }