#

luxiaotao1123

2020-08-19 bc0a69ea4a4fb49dadc02bf548d8f3fd3f60d18a

 src/main/java/com/zy/core/thread/CrnThread.java

@@ -34,7 +34,6 @@
    private CrnSlave slave;
    private CrnProtocol crnProtocol;


    public CrnThread(CrnSlave slave) {
        this.slave = slave;
    }
@@ -243,18 +242,18 @@
//        crnThread.write(command);


//        // 3.库位移转   源和目标都发
//        // 3.库位移转   源和目标都发 pass
//        CrnCommand command = new CrnCommand();
//        command.setCrnNo(slave.getId()); // 堆垛机编号
//        command.setTaskNo((short) 0); // 工作号
//        command.setAckFinish((short) 0);  // 任务完成确认位
//        command.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式:  库位移转
//        command.setSourcePosX((short)1);     // 源库位排
//        command.setSourcePosX((short)2);     // 源库位排
//        command.setSourcePosY((short)2);     // 源库位列
//        command.setSourcePosZ((short)2);     // 源库位层
//        command.setSourcePosZ((short)3);     // 源库位层
//        command.setDestinationPosX((short)2);     // 目标库位排
//        command.setDestinationPosY((short)3);     // 目标库位列
//        command.setDestinationPosZ((short)3);     // 目标库位层
//        command.setDestinationPosY((short)4);     // 目标库位列
//        command.setDestinationPosZ((short)4);     // 目标库位层
//        crnThread.write(command);

        // 4.站位移转   源和目标都发
@@ -280,9 +279,9 @@
//        command.setSourcePosX((short) 0);     // 源库位排
//        command.setSourcePosY((short) 0);     // 源库位列
//        command.setSourcePosZ((short) 0);     // 源库位层
//        command.setDestinationPosX((short) 2);     // 目标库位排
//        command.setDestinationPosY((short) 1);     // 目标库位列
//        command.setDestinationPosZ((short) 1);     // 目标库位层
//        command.setDestinationPosX((short) 0);     // 目标库位排
//        command.setDestinationPosY((short) 0);     // 目标库位列
//        command.setDestinationPosZ((short) 0);     // 目标库位层
//        crnThread.write(command);

//        // 7.坐标移行   目标发   pass
@@ -298,6 +297,20 @@
//        command.setDestinationPosY((short) 1);     // 目标库位列
//        command.setDestinationPosZ((short) 1);     // 目标库位层
//        crnThread.write(command);

        // 只有出现指定异常才进行复位
//        if (crnThread.crnProtocol.getCrnError2().leftTakeNoneErr
//                || crnThread.crnProtocol.getCrnError2().rightTakeNoneErr
//                || crnThread.crnProtocol.getCrnError2().leftPutLoadErr
//                || crnThread.crnProtocol.getCrnError2().rightPutLoadErr) {
//            CrnCommand command = new CrnCommand();
//            command.setCrnNo(1); // 堆垛机编号
//            command.setAckFinish((short) 1);  // 任务完成确认位
//            command.setTaskMode(CrnTaskModeType.NONE); // 任务模式
//            Thread.sleep(3000L);
//            crnThread.write(command);
//        }

    }

}