From 15d3b197f6102f347a828f2b50d5dfebe57780dd Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期三, 08 五月 2024 15:17:54 +0800
Subject: [PATCH] #
---
src/components/agv.jsx | 30 +++++++++++++++++++++++++-----
1 files changed, 25 insertions(+), 5 deletions(-)
diff --git a/src/components/agv.jsx b/src/components/agv.jsx
index afbaff0..caf04bb 100644
--- a/src/components/agv.jsx
+++ b/src/components/agv.jsx
@@ -13,6 +13,22 @@
REAL_COMPARE_MAP_OFFSET_Z,
} from '../config/setting'
+const getCorrectForkDis = (loaderAngle, forkDis) => {
+ if (loaderAngle > 180 - 10 && loaderAngle < 180 + 10) {
+ return forkDis;
+ }
+ if (loaderAngle > 360 - 10 && loaderAngle < 0 + 10) {
+ return -forkDis;
+ }
+ if (loaderAngle > 270 - 10 && loaderAngle < 270 + 10) {
+ return -forkDis;
+ }
+ if (loaderAngle > 90 - 10 && loaderAngle < 90 + 10) {
+ return -forkDis;
+ }
+ return forkDis;
+}
+
const Agv = (props) => {
const { agvNo, position, trayList, hasBox } = props;
const theta = -props.theta;
@@ -78,11 +94,16 @@
}
// loader theta
+ let loaderTargetTheta;
const loaderAbsoluteAngle = (theta + loaderTheta) % 360;
if (loaderAngle !== loaderAbsoluteAngle && props.loaderTheta !== null) {
- const targetTheta = Common.normalizeAngle(loaderAbsoluteAngle - loaderAngle) + loaderAngle;
+ console.log("theta", theta);
+ console.log("loaderTheta", loaderTheta);
+ console.log("loaderAbsoluteAngle", loaderAbsoluteAngle);
+ loaderTargetTheta = Common.normalizeAngle(loaderAbsoluteAngle - loaderAngle) + loaderAngle;
+ console.log("loaderTargetTheta", loaderTargetTheta);
new TWEEN.Tween({ value: loaderAngle })
- .to({ value: targetTheta }, INTERVAL_TIME)
+ .to({ value: loaderTargetTheta }, INTERVAL_TIME)
.easing(TWEEN.Easing.Linear.None)
.onUpdate((e) => {
setLoaderAngle(e.value)
@@ -93,11 +114,10 @@
}
// fork lenght
- // console.log("forkDis", forkDis);
- // console.log("forkLength", forkLength);
if (forkDis !== forkLength && props.forkLength !== null) {
+ const targetForkDis = getCorrectForkDis(Common.positiveAngle(loaderTargetTheta), forkLength);
new TWEEN.Tween({ value: forkDis })
- .to({ value: forkLength }, INTERVAL_TIME)
+ .to({ value: targetForkDis }, INTERVAL_TIME)
.easing(TWEEN.Easing.Linear.None)
.onUpdate((e) => {
setForkDis(e.value)
--
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