kouliwei / zhengte Goto Github PK
View Code? Open in Web Editor NEWcode about the mobile car in Zhengte Project.
code about the mobile car in Zhengte Project.
2016 01 22 11:27 修改内容: (1)工装板的旋转到位 (2)方向传感器电平检测增加了延时 (3)修改小车编号增加了一个模式,利用零位 传感器来作为修改小车编号的传感器 2016 03 07 17:03 修改内容 //(1)小车定时发送到位信号,暂定5s //(2)增加触发气缸有效电平检测。小车在开始运行状态时,如果触发气缸一直处于伸出状态,可以触发小车运行。 2016 03 22 08:30 (1)减速后改为10s未检测到停止传感器则自动停止 (2)0号工位,1号工位,21号工位的减速曲线按照原来的快速减下来,其他的曲线按照3档的速度减速 2016 10 24 (1)线上防撞信号消失后,5s之后再启动,线下防撞信号消失后,10s之后再启动 (2)急停后线下处于21号工位的小车也要处于急停状态 2016 10 31 (1)小车线下速度调节,在线体后半段限制小车速度为0.6m/s (2)小车启动气缸电平检测,保证小车在运行状态下,如果启动气缸一直伸出,小车可正常启动。 (3)小车防撞BUG修复,线体下小车定位信号gl_car.pos1的更新,如果运行过程中防撞消失,更新定位信号的计数值保持不变。
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