*

lsh

2025-01-09 c87d8539ff210d79dbae1a2b6472fc8bb71cf600

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

@@ -27,6 +27,7 @@
    // 频率
    private int i = 0;
    private int j = 0;
    private int k = 0;

    /**
     * =====>>  开始工作
@@ -74,10 +75,17 @@

                    /////////////////////////////////////RGV调度/////////////////////////////////////
                    i++;
                    if (i<8) {
                    k++;
                    if (i<7) {
                        // RGV  ===>>  小车任务作业下发
                        try{
                            mainService.rgvIoExecute(i);
                            boolean rgvIoExecuteSign = mainService.rgvIoExecute(i);
                            if (rgvIoExecuteSign){
                                k = 0;
                            } else if (k>7){
                                k = 0;
                                mainService.rgvRunWrkMastEmptyStaAvoidance();//避让
                            }
                        }catch (Exception e){
                            log.error("RGV  ===>>  小车任务作业下发异常"+e);
                        }
@@ -118,7 +126,7 @@

                    //码垛完成驱动托盘下一步扫码入库
                    mainService.stackingCompletionDriveTray();
                    //拆垛完成继续下一步
                    //拆垛完成继续下一步  出库至月台出库口
                    mainService.stackingCompletionDriveTray2();
                    //贴标完成继续下一步
//                    mainService.stackingCompletionDriveTray3();