#和得服务器

1

8 天以前 aeaf3e43e425ef0de84c1819f318f20e90471f90

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

@@ -37,8 +37,8 @@
        thread = new Thread(this::crnAndDevRun);
        thread.start();

//        armThread = new Thread(this::roboticArmDispatch);
//        armThread.start();
        armThread = new Thread(this::roboticArmDispatch);
        armThread.start();
    }
    private void crnAndDevRun() {
        while (!Thread.currentThread().isInterrupted()) {
@@ -90,9 +90,9 @@

//                    mainService.outOfDevp(11);

                if (i>10){
                if (i>2){
                    //空托盘自动出库
                    mainService.autoEmptyOut();
//                    mainService.autoEmptyOut();
                    //空托盘自动入库
                    mainService.autoEmptyIn();
                    i=0;
@@ -132,11 +132,15 @@
                try{
                    //RGV小车出入库取货下发
                    mainService.rgvIoExecute(11);
                    if(k > 2){
                        mainService.rgvOutExecute();
                        k = 0;
                    }
                }catch (Exception e){
                    log.error("RGV  ===>>  小车任务作业下发异常"+e);
                }
                //完成小车任务
                mainService.rgvCompleteWrkMastSta();
//                //完成小车任务
                mainService.rgvTaskComplete();

                //工位移动
//                mainService.rgvStaMove();