#

luxiaotao1123

2024-05-08 3da8a06c9d64f84b3d6121c5950e91e295b8872f

 src/components/agv.jsx

@@ -14,7 +14,19 @@
} from '../config/setting'

const getCorrectForkDis = (loaderAngle, forkDis) => {

    if (loaderAngle > 180 - 10 && loaderAngle < 180 + 10) {
        return forkDis;
    }
    if (loaderAngle > 360 - 10 && loaderAngle < 0 + 10) {
        return -forkDis;
    }
    if (loaderAngle > 270 - 10 && loaderAngle < 270 + 10) {
        return -forkDis;
    }
    if (loaderAngle > 90 - 10 && loaderAngle < 90 + 10) {
        return -forkDis;
    }
    return forkDis;
}

const Agv = (props) => {
@@ -82,12 +94,16 @@
        }

        // loader theta
        let loaderTargetTheta;
        const loaderAbsoluteAngle = (theta + loaderTheta) % 360;
        if (loaderAngle !== loaderAbsoluteAngle && props.loaderTheta !== null) {
            const targetTheta = Common.normalizeAngle(loaderAbsoluteAngle - loaderAngle) + loaderAngle;
            console.log(targetTheta);
            console.log("theta", theta);
            console.log("loaderTheta", loaderTheta);
            console.log("loaderAbsoluteAngle", loaderAbsoluteAngle);
            loaderTargetTheta = Common.normalizeAngle(loaderAbsoluteAngle - loaderAngle) + loaderAngle;
            console.log("loaderTargetTheta", loaderTargetTheta);
            new TWEEN.Tween({ value: loaderAngle })
                .to({ value: targetTheta }, INTERVAL_TIME)
                .to({ value: loaderTargetTheta }, INTERVAL_TIME)
                .easing(TWEEN.Easing.Linear.None)
                .onUpdate((e) => {
                    setLoaderAngle(e.value)
@@ -98,11 +114,10 @@
        }

        // fork lenght
        // console.log("forkDis", forkDis);
        // console.log("forkLength", forkLength);
        if (forkDis !== forkLength && props.forkLength !== null) {
            const targetForkDis = getCorrectForkDis(Common.positiveAngle(loaderTargetTheta), forkLength);
            new TWEEN.Tween({ value: forkDis })
                .to({ value: forkLength }, INTERVAL_TIME)
                .to({ value: targetForkDis }, INTERVAL_TIME)
                .easing(TWEEN.Easing.Linear.None)
                .onUpdate((e) => {
                    setForkDis(e.value)
@@ -175,6 +190,16 @@
                    {realTrayList?.[5]?.hasBox && <Box rotationY={Math.PI / 2} position={[-43, 140, 0]} />}
                </group>
            </group>
            {/* <group
                position-y={loaderHeight}
                rotation-y={Common.rotationParseNum(0)}
            >
                <primitive object={loaderModel} castShadow position={[0, 20, 0]} />
                <group position-z={forkDis}>
                    <primitive object={forkModel} castShadow position={[0, 25, 0]} />
                    {hasBox && <Box position={[0, 24, 0]} />}
                </group>
            </group> */}
        </>
    )
}