*

L

2025-07-10 a435a1d1e06263eb1a219384e6b4f1e551c4f89b

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

@@ -47,8 +47,6 @@

                    //初始化RGV地图
//                    mainService.initRgvMap();
                    //刷新RGV地图
                    mainService.refreshRgvMap();
                    // 演示
//                    mainService.crnDemoOfLocMove1();
                    // 入出库模式切换函数
@@ -63,7 +61,7 @@
                    // 拣料、并板、盘点再入库拆盘区   1楼拆垛位置
                    mainService.stnToCrnStnPick2();
                    // 2楼212呼叫空板
                    mainService.stnToCrnStnPick3Auto(i);
//                    mainService.stnToCrnStnPick3Auto(i);
                    // 出库  ===>>  堆垛机出库站到出库站
                    mainService.crnStnToOutStn();
                    // 入出库  ===>>  堆垛机入出库作业下发
@@ -72,6 +70,10 @@
//                    mainService.crnIoWrkMast();
                    // 入库  ===>> 执行对工作档的完成操作
                    mainService.storeFinished();


                    //刷新RGV地图
                    mainService.refreshRgvMap();

                    /////////////////////////////////////RGV调度/////////////////////////////////////
                    i++;
@@ -88,6 +90,9 @@
                            }
                        }catch (Exception e){
                            log.error("RGV  ===>>  小车任务作业下发异常"+e);
                        }
                        if (i==6) {
                            i = 0;
                        }
                    }else {
                        i = 0;
@@ -132,11 +137,12 @@
//                    mainService.stackingCompletionDriveTray3();
                    //拆垛完成继续下一步  运行途中自动避让空板
                    mainService.stackingCompletionDriveTray4();
                    //拆垛完成托盘继续下一步
                    mainService.stackingCompletionDriveTrayOk2();
                    //拆垛完成托盘继续下一步2==3废弃
//                    mainService.stackingCompletionDriveTrayOk2();
                    //退货码垛完成托盘继续下一步
                    mainService.stackingCompletionDriveTrayOk3();

                    mainService.armNoStartTwoLo();
                    mainService.armNoCleanUpTwoLo();