public static int CPUindex = 0; //Which CPU we're on
public static void ArmHandlerLibraryMainSequence()
{ //Start at Origin, find next CPU, Take picture
//Pick Up requested CPU, Move to Calibration Image
//Find Socket, put CPU in socket, wait until done
//Once done, tell tray if good or bad, wait for position
//Place CPU in position, wait for next either next CPU or done signal
double[] Loc = { 0.0, 0.0, 0.0, 0.0 };
FetchInformation();
TrayManagerLibrary trayHandler = new TrayManagerLibrary(); //should be background worker
bool done = false;
int CPU;
while (!done)
{ //Main Loop
if (!Running)
{
return;
}
ArduinoMotionLibrary.ArdPosition("MOVE", 0, OriginLocation[0], OriginLocation[1], OriginLocation[2], OriginLocation[3]);
CPU = trayHandler.GetCPUPosition();
Loc[0] = (CPU % trayHandler.trayDimensions[0]) * centerToCenterL;
if (CPU > trayHandler.trayDimensions[0])
{
Loc[1] += centerToCenterW;
}
Loc[2] -= (trayHandler.emptyTrayCount + trayHandler.goodTrayCount + trayHandler.badTrayCount) * centerToCenterZ;
ArduinoMotionLibrary.ArdPosition("MOVE", 0, Loc[0], Loc[1], Loc[2], Loc[3]); //Move to CPU
//Verify we're above a CPU
while (!CameraTestCPU())
{
//Keep Navigating to next CPU and testing
}
ArduinoMotionLibrary.ArdPosition("SHIFT", 0, 0, 0, 0, 0); //Descend Z
//Grab CPU
ArduinoMotionLibrary.ArdPosition("SHIFT", 0, 0, 0, 0, 0); //Raise back up
//Move to Socket, calibration image later
ArduinoMotionLibrary.ArdPosition("MOVE", 0, SocketLocation[0], SocketLocation[1], SocketLocation[2], SocketLocation[3]);
ArduinoMotionLibrary.ArdPosition("SHIFT", 0, 0, 0, 0, 0); //Descend into socket
//Release CPU
//Wait for test
//Tell Tray to present good or bad
ArduinoMotionLibrary.ArdPosition("MOVE", 0, 0, 0, 0, 0); //Demo done, return to origin
done = true;
}
return;
}
private void moveButton_Click(object sender, EventArgs e)
{
ArduinoMotionLibrary.ArdPosition("MOVE", portID, XcoordinateValue, YcoordinateValue, ZcoordinateValue, RotationVal);
}
