From 13ea8b334572c2423abb8d156fd8428f8d074172 Mon Sep 17 00:00:00 2001
From: zhang <zc857179121@qq.com>
Date: 星期四, 03 七月 2025 08:24:58 +0800
Subject: [PATCH] 1
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java | 6 +++---
1 files changed, 3 insertions(+), 3 deletions(-)
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java
index 1da3a4f..e1c4631 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java
@@ -35,7 +35,7 @@
@Component("mapService")
public class MapService {
- private final static int[][] DIRECTIONS = {{0,1},{0,-1},{-1,0},{1,0}};
+ private final static int[][] DIRECTIONS = {{0, 1}, {0, -1}, {-1, 0}, {1, 0}};
@Value("${floyd.enable}")
private Boolean floydEnable;
@@ -177,8 +177,8 @@
return Double.parseDouble(sta.getAngle());
}
- public AgvDirectionType calculateAgvWorkDirectionByStation(Sta sta, Code code) {
- return AgvDirectionType.FORWARD;
+ public Double calculateAgvWorkDirectionByStation(Double staWorkDirection, Double lastDirection) {
+ return Math.abs(staWorkDirection - lastDirection) + 90.0D;
}
public double calculateDistance(double x1, double y1, double x2, double y2) {
--
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