#

Junjie

2023-12-02 d4635affe30c094dc86f011fa8413de055aa3a2a

 src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java

@@ -2489,7 +2489,9 @@
                        RobotUtils.sendTask(staProtocol303.getWorkNo().toString(), wrkDetls.size(), "303");
                    }
                }
            }else if (staProtocol317.isAutoing() && staProtocol317.isLoading() && staProtocol317.getWorkNo() != 0) {
            }

            if (staProtocol317.isAutoing() && staProtocol317.isLoading() && staProtocol317.getWorkNo() != 0) {
                //调度机械臂
                //查询是否有工作档
                WrkMast wrkMast = wrkMastMapper.selectByWorkNo(staProtocol317.getWorkNo().intValue());
@@ -3017,9 +3019,20 @@
                    continue;
                }

                if (shuttleProtocol.getVoltage() < 5630) {
                    continue;//电压不够继续充电
                //***************判断是否满充校准***************
                EntityWrapper<Config> wrapper1 = new EntityWrapper<>();
                wrapper.eq("code", "shuttleMaxPowerVerify");
                Config config1 = configService.selectOne(wrapper1);
                if (config1 != null) {
                    if (!Boolean.parseBoolean(config1.getValue())) {
                        continue;//没有开启满充校准
                    }

                    if (shuttleProtocol.getVoltage() < 5630) {
                        continue;//电压不够继续充电
                    }
                }
                //***************判断是否满充校准***************

                //小车满电，结束充电任务
                NyShuttleHttpCommand chargeCommand = NyHttpUtils.getChargeCommand(shuttle.getId(), wrkCharge.getWrkNo(), false);