ParkingRobot/MedullaAdapter/AlarmRoutine.cs

// 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);
        }
    }
}