#

zjj

2024-02-21 8557fbb9f8f5963df6d758ad5621fe921c1643c9

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

@@ -72,14 +72,18 @@
                    // 出库  ===>> 工作档信息写入led显示器
                    mainService.ledExecute(9);
                    // 其他  ===>> LED显示器复位，显示默认信息
                    mainService.ledReset(10);
                    mainService.ledReset();

                    mainService.outOfDevp(11);

                    //空托盘自动出库
//                    mainService.autoEmptyOut();
//                    //空托盘自动入库
//                    mainService.autoEmptyIn();
                    if (i>10){
                        //空托盘自动出库
                        mainService.autoEmptyOut();
                        //空托盘自动入库
                        mainService.autoEmptyIn();
                        i=0;
                    }
                    i++;

                    // 其他  ===>> 入出库模式切换
//                    i++;
@@ -96,14 +100,14 @@
//                    //执行小车空板搬运任务
//                    mainService.rgvRunWrkMastEmptyStaPut();//放
//                    mainService.rgvRunWrkMastEmptyStaTake();//取
                    if (rgcWrk){
                        //执行小车货物搬运任务
//                    if (rgcWrk){
//                        //执行小车货物搬运任务
                        mainService.rgvRunWrkMastFullSta();
                        rgcWrk = false;
                    }else {
                        mainService.rgvRunWrkMastEmptyStaAvoidance();//避让
                        rgcWrk = true;
                    }
//                        rgcWrk = false;
//                    }else {
//                        mainService.rgvRunWrkMastEmptyStaAvoidance();//避让
//                        rgcWrk = true;
//                    }


                    /////////////////////////////////////RGV调度/////////////////////////////////////