Revise SRDHomeRoutine

CyberX8_RT/Modules/SRD/SRDHomeRoutine.cs

@@ -22,18 +22,14 @@ namespace CyberX8_RT.Modules.Transporter
     {
         private enum HomeAllStep
         {
-            CheckSafety,
+            //CheckSafety,
             CheckPreCondition,
             CloseDoor,
             CheckDoorClosed,
-            HomeSRDArm,
-            CheckArmHome,
-            ArmHome,
-            ArmHomeWait,
             HomeSRDRotation,
-            RotationHome,
-            RotationHomeWait,
             CheckRotationHome,
+            RotationHome,
+            RotationHomeWait,         
             OpenDoor,
             CheckDoorOpened,
             End
@@ -143,14 +139,7 @@ namespace CyberX8_RT.Modules.Transporter
         {
             return _rotationAxis.IsHomed&&_rotationAxis.Status==RState.End;
         }
-        /// <summary>
-        /// Arm Home
-        /// </summary>
-        /// <returns></returns>
-        private bool ArmAxisHome()
-        {
-            return _armAxis.Home();
-        }
+        
         /// <summary>
         /// 启动
         /// </summary>
@@ -158,7 +147,6 @@ namespace CyberX8_RT.Modules.Transporter
         /// <returns></returns>
         public RState Start(params object[] objs)
         {
-            _armAxis = DEVICE.GetDevice<JetAxisBase>($"{Module}.Arm");
             _rotationAxis = DEVICE.GetDevice<JetAxisBase>($"{Module}.Rotation");
             _common = DEVICE.GetDevice<SrdCommonDevice>($"{Module}.Common");
             _doorCloseRoutine = new SrdCommonDoorCloseRoutine(Module);