Initial commit from MyParking project

2026-08-04 10:29:21 +08:00
commit d9432bd529
138 changed files with 16957 additions and 0 deletions
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+// 驱动器、急停、夹臂等安全报警
+using MDCSToolBox.Medulla.Chassis.MultiWheel;
+
+namespace MedullaAdapter
+{
+    public class AlarmRoutine : MultiWheelAlarmRoutine<DiverCartDefinition>
+    {
+        // M层单车安全：汇总停车机器人夹臂等自定义报警状态。
+        public override void SetOtherAlarms()
+        {
+            AddAlarm("左夹臂驱动报警", 2, () => cart.LeftArmErrorCode != 0);
+            AddAlarm("右夹臂驱动报警", 2, () => cart.RightArmErrorCode != 0);
+        }
+    }
+}