| | |
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| | | crnCommand.setTaskNo((short)999); // 工作号 |
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| | | crnCommand.setAckFinish((short) 0); // 任务完成确认位 |
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| | | crnCommand.setTaskMode(CrnTaskModeType.GO_ORIGIN); // 任务模式: 站位移转4 |
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| | | crnCommand.setSourcePosX((short) 1); // 源库位排 |
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| | | Integer crnNo = crnProtocol.getCrnNo(); |
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| | | int row1 = crnNo * 4; |
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| | | if (crnNo>2){ |
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| | | row1 = row1-2; |
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| | | } |
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| | | crnCommand.setSourcePosX((short) row1); // 源库位排 |
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| | | crnCommand.setSourcePosY((short) 1); // 源库位列 |
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| | | crnCommand.setSourcePosZ((short) 1); // 源库位层 |
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| | | crnCommand.setDestinationPosX((short) 1); // 目标库位排 |
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| | | crnCommand.setDestinationPosX((short) row1); // 目标库位排 |
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| | | crnCommand.setDestinationPosY((short) 1); // 目标库位层 |
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| | | crnCommand.setDestinationPosZ((short) 1); // 目标库位列 |
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| | | if (!MessageQueue.offer(SlaveType.Crn, crnProtocol.getCrnNo(), new Task(2, crnCommand))) { |
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