#

hmpc

2025-01-13 b3c2c6fa1fc80d7cd7e47bacf221157bb3d0e60c

#

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

@@ -57,6 +57,8 @@
    private Long acceleration;
    @Value("${constant-parameters.rgvCount}")
    private Long rgvCount;
    @Value("${constant-parameters.rgvDate}")
    private Double rgvDate;
    /**
     * 站点任务检测  更新小车位置信息
     */
@@ -289,7 +291,7 @@
                            double finalVelocity = 0.0;     // 最终速度 (m/s)
                            double distance = (Math.pow(finalVelocity, 2) - Math.pow(rgvProtocol.instantaneousSpeed/60, 2)) / (2 * acceleration);
                            BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("dev_no", wrkMast.getSourceStaNo()));
                            if (distance*proportion > ((SortTheExecutionOfTheCarUtil.LatelyAndLessThan(basDevpPosition.getPlcPosition(),rgvProtocol.getRgvPos(),perimeter) + (rgvProtocol.instantaneousSpeed/60)*proportion*0.2))){
                            if (distance*proportion > ((SortTheExecutionOfTheCarUtil.LatelyAndLessThan(basDevpPosition.getPlcPosition(),rgvProtocol.getRgvPos(),perimeter) + (rgvProtocol.instantaneousSpeed/60)*proportion*rgvDate))){
                                continue ;
                            }
                        }

 src/main/resources/application.yml

@@ -41,6 +41,8 @@
  acceleration: -2
  # 小车数
  rgvCount: 10
  # 延迟时间
  rgvDate: 0.5

# 下位机配置
wcs-slave: