#

vincentlu

2026-04-07 cc69250f7766581dbfd38f500021d03b29f0a4e0

 zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/HkAgvDataService.java

@@ -11,9 +11,9 @@
import com.zy.acs.framework.common.DateUtils;
import com.zy.acs.manager.common.config.HikOrderProperties;
import com.zy.acs.manager.core.constant.MapDataConstant;
import com.zy.acs.manager.core.constant.HikAngleConstant;
import com.zy.acs.manager.core.domain.BackpackDto;
import com.zy.acs.manager.core.service.astart.MapDataDispatcher;
import com.zy.acs.manager.core.utils.AgvAngleUtils;
import com.zy.acs.manager.manager.entity.AgvDetail;
import com.zy.acs.manager.manager.entity.Code;
import com.zy.acs.manager.manager.service.AgvDetailService;
@@ -133,7 +133,7 @@
        HkStateVelocity velocity = state.getVelocity();

        if (agvPosition != null && agvPosition.getTheta() != null) {
            double angle = normalizeAngle(HikAngleConstant.toRcsAngleDegrees(Math.toDegrees(agvPosition.getTheta())));
            double angle = normalizeAngle(AgvAngleUtils.fromRadians(agvPosition.getTheta()));
            detail.setAgvAngle(angle);
            detail.setGyroAngle(angle);
            detail.setEncoderAngle(angle);