15 lines
529 B
C#
15 lines
529 B
C#
// 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);
|
|
}
|
|
}
|
|
} |