四向穿梭车充电逻辑

Junjie

2023-04-10 fdbbac3e711e6be54513cca6fa4ec3a17d293f49

四向穿梭车充电逻辑

 src/main/java/com/zy/asrs/controller/ShuttleController.java

@@ -113,7 +113,7 @@
            vo.setCurrentOrBeforeCode(shuttleProtocol.getCurrentOrBeforeCode());//当前或者之前读到的二维码值
            vo.setCodeOffsetX(shuttleProtocol.getCodeOffsetX());//读到的二维码X方向偏移量
            vo.setCodeOffsetY(shuttleProtocol.getCodeOffsetY());//读到的二维码Y方向偏移量
            vo.setCurrentVoltage(shuttleProtocol.getCurrentVoltage());//当前的电压值
            vo.setCurrentVoltage(shuttleProtocol.getCurrentVoltage() * 0.1);//当前的电压值
            vo.setCurrentAnalogValue(shuttleProtocol.getCurrentAnalogValue());//当前的模拟量值
            vo.setCurrentLiftServoSpeed(shuttleProtocol.getCurrentLiftServoSpeed());//当前的升降伺服速度
            vo.setCurrentMoveServoSpeed(shuttleProtocol.getCurrentMoveServoSpeed());//当前的行走伺服速度

 src/main/java/com/zy/asrs/domain/vo/ShuttleStateTableVo.java

@@ -128,7 +128,7 @@
    /**
     * 当前的电压值
     */
    private Short currentVoltage;
    private Double currentVoltage;

    /**
     * 当前的模拟量值

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

@@ -3643,8 +3643,8 @@

        } else if (wrkCharge.getWrkSts() == 56) {
            //充电中
            //判断小车是否充满电量
            if (shuttleProtocol.getBatteryPower() == 1000) {
            //判断小车是否充满电量，满电1000或电压54V以上
            if (shuttleProtocol.getBatteryPower() >= 1000 || shuttleProtocol.getCurrentVoltage() >= 540) {
                //充满，断开充电
                List<ShuttleCommand> commands = new ArrayList<>();
                ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();

 src/main/java/com/zy/core/model/protocol/ShuttleProtocol.java

@@ -289,10 +289,10 @@
        if (!res) {
            return res;
        } else {
            // 电量
            // 电量小于阈值或电压小于48V，需要进行充电
            try {
                Integer chargeLine = SpringUtils.getBean(BasShuttleService.class).selectById(this.shuttleNo).getChargeLine();
                return this.getBatteryPower$() < chargeLine;
                return this.getBatteryPower$() < chargeLine || this.currentVoltage < 480;
            } catch (Exception e) {
                News.error("fail", e);
                return false;

 src/main/webapp/views/shuttle.html

@@ -611,7 +611,7 @@
                        setVal(tr.children("td").eq(13), table[i-1].currentOrBeforeCode);
                        setVal(tr.children("td").eq(14), table[i-1].codeOffsetX);
                        setVal(tr.children("td").eq(15), table[i-1].codeOffsetY);
                        setVal(tr.children("td").eq(16), table[i-1].currentVoltage);
                        setVal(tr.children("td").eq(16), table[i-1].currentVoltage ? table[i-1].currentVoltage + "V" : "");
                        setVal(tr.children("td").eq(17), table[i-1].currentAnalogValue);
                    }
                } else if (res.code === 403){