From cc69250f7766581dbfd38f500021d03b29f0a4e0 Mon Sep 17 00:00:00 2001
From: vincentlu <t1341870251@gmail.com>
Date: 星期二, 07 四月 2026 13:00:11 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/HkAgvDataService.java | 4 ++--
1 files changed, 2 insertions(+), 2 deletions(-)
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/HkAgvDataService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/HkAgvDataService.java
index fd6ecfd..0dd1bda 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/HkAgvDataService.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/HkAgvDataService.java
@@ -11,9 +11,9 @@
import com.zy.acs.framework.common.DateUtils;
import com.zy.acs.manager.common.config.HikOrderProperties;
import com.zy.acs.manager.core.constant.MapDataConstant;
-import com.zy.acs.manager.core.constant.HikAngleConstant;
import com.zy.acs.manager.core.domain.BackpackDto;
import com.zy.acs.manager.core.service.astart.MapDataDispatcher;
+import com.zy.acs.manager.core.utils.AgvAngleUtils;
import com.zy.acs.manager.manager.entity.AgvDetail;
import com.zy.acs.manager.manager.entity.Code;
import com.zy.acs.manager.manager.service.AgvDetailService;
@@ -133,7 +133,7 @@
HkStateVelocity velocity = state.getVelocity();
if (agvPosition != null && agvPosition.getTheta() != null) {
- double angle = normalizeAngle(HikAngleConstant.toRcsAngleDegrees(Math.toDegrees(agvPosition.getTheta())));
+ double angle = normalizeAngle(AgvAngleUtils.fromRadians(agvPosition.getTheta()));
detail.setAgvAngle(angle);
detail.setGyroAngle(angle);
detail.setEncoderAngle(angle);
--
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