*

lsh

2025-02-14 e1769fa6dad08ec33ab9472c5865c9f91c8e76d0

 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
@@ -62,7 +63,7 @@
                    // 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
@@ -74,12 +75,16 @@

                    /////////////////////////////////////RGV调度/////////////////////////////////////
                    i++;
                    if (i<8) {
                    k++;
                    if (i<7) {
                        // RGV  ===>>  小车任务作业下发
                        try{
                            boolean rgvIoExecuteSign = mainService.rgvIoExecute(i);
                            if (rgvIoExecuteSign && (i==6)){
                                i = 0;
                            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);
@@ -132,6 +137,10 @@
                    //退货码垛完成托盘继续下一步
                    mainService.stackingCompletionDriveTrayOk3();

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


                } catch (Exception e) {
                    e.printStackTrace();
                }