#码垛位自动补充空板：自动补空板任务，扫码实装

LSH

2023-07-25 6742ccb80562035ca680cf46438746ceb7cacbc8

 src/main/java/com/zy/core/MainProcess.java

@@ -44,7 +44,7 @@
                    }

                    //初始化RGV地图
                    mainService.initRgvMap();
//                    mainService.initRgvMap();
                    // 演示
                    mainService.crnDemoOfLocMove1();
                    // 入出库模式切换函数
@@ -63,18 +63,19 @@
                    // 入库  ===>> 执行对工作档的完成操作
                    mainService.storeFinished();

                    ///////////////////////RGV调度/////////////////////////////////////
                    //绑定小车方法
                    mainService.rgvBindSte();
                    // 入出库  ===>>  RGV入出库作业下发
                    mainService.rgvIoExecute();
                    // RGV入库  ===>> 根据RGV完成信号,执行对工作档的完成操作
                    mainService.rgvFinished();
                    /////////////////////////////////////RGV调度/////////////////////////////////////

//                    //绑定小车方法
//                    mainService.rgvBindSte();
//                    // 入出库  ===>>  RGV入出库作业下发
//                    mainService.rgvIoExecute();
//                    // RGV入库  ===>> 根据RGV完成信号,执行对工作档的完成操作
//                    mainService.rgvFinished();
//                    // 入出库  ===>>  RGV出库站到系统入出库站
//                    mainService.rgvDestStnToCrnStn();
//                    // 出库  ===>>  RGV出库站到系统出库站
//                    mainService.rgvOutDStnToOutStn();
                    //////////////////////////////////////////////////////////////////
                    /////////////////////////////////////RGV调度/////////////////////////////////////

                    // 异常信息记录
                    mainService.recErr();
@@ -85,19 +86,29 @@
                    // 其他  ===>> LED显示器复位，显示默认信息
                    mainService.ledReset();

                    mainService.outOfDevp();
//                    mainService.outOfDevp();

                    //空托盘自动出库
                    mainService.autoEmptyOut();
//                    //空托盘自动出库
//                    mainService.autoEmptyOut();
//                    //空托盘自动入库
//                    mainService.autoEmptyIn();

                    // 其他  ===>> 入出库模式切换
                    i++;
                    if (i > 1) {
                        mainService.ioConvert();
                        i = 0;
                    }
//                    // 其他  ===>> 入出库模式切换
//                    i++;
//                    if (i > 1) {
//                        mainService.ioConvert();
//                        i = 0;
//                    }

                    //码垛位自动补充空板：驱动拆盘机输出托盘
                    mainService.dischargingMachineOutputTray();

//                    //拆盘机处空板扫码，驱动托盘向码垛位，不入库
//                    mainService.scanBarcodeEmptyBoard();

                    //码垛完成驱动托盘下一步扫码入库
                    mainService.stackingCompletionDriveTray();


                } catch (Exception e) {
                    e.printStackTrace();