From 8c982a086bc5627bf20a8c2f44489165b08348f8 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期四, 09 五月 2024 10:30:07 +0800
Subject: [PATCH] #
---
src/components/agv.jsx | 81 ++++++++++++++++++++++++++--------------
1 files changed, 53 insertions(+), 28 deletions(-)
diff --git a/src/components/agv.jsx b/src/components/agv.jsx
index 4588a9d..3c9f99b 100644
--- a/src/components/agv.jsx
+++ b/src/components/agv.jsx
@@ -13,17 +13,49 @@
REAL_COMPARE_MAP_OFFSET_Z,
} from '../config/setting'
+const getCorrectForkDis = (loaderAngle, forkDis) => {
+ if (loaderAngle > 360 - 10 || loaderAngle < 0 + 10) {
+ return -forkDis;
+ }
+ if (loaderAngle > 180 - 10 && loaderAngle < 180 + 10) {
+ return -forkDis;
+ }
+ if (loaderAngle > 270 - 10 && loaderAngle < 270 + 10) {
+ return forkDis;
+ }
+ if (loaderAngle > 90 - 10 && loaderAngle < 90 + 10) {
+ return forkDis;
+ }
+ return forkDis;
+}
+
+const getLoaderHasBox = (loaderAngle, finger1, finger2, finger3, finger4) => {
+ if (loaderAngle > 360 - 10 || loaderAngle < 0 + 10) {
+ return finger3 && finger4;
+ }
+ if (loaderAngle > 180 - 10 && loaderAngle < 180 + 10) {
+ return finger3 && finger4;
+ }
+ if (loaderAngle > 270 - 10 && loaderAngle < 270 + 10) {
+ return finger1 && finger2;
+ }
+ if (loaderAngle > 90 - 10 && loaderAngle < 90 + 10) {
+ return finger1 && finger2;
+ }
+ return finger1 && finger2 && finger3 && finger4;
+}
+
const Agv = (props) => {
- const { agvNo, position, trayList, hasBox } = props;
+ const { agvNo, position, trayList, hasBox, finger1, finger2, finger3, finger4 } = props;
const theta = -props.theta;
- const height = props.height * 0.04;
+ const height = props.height * 0.06;
const forkLength = props.forkLength * 0.1;
const loaderTheta = Number(props.loaderTheta?.toFixed(1));
const [groupPos, setGroupPos] = useState({ x: 0, y: 0, z: 0 });
const [groupTheta, setGroupTheta] = useState(0);
const [loaderHeight, setLoaderHeight] = useState(0);
- const [integrateTheta, setIntegrateTheta] = useState(0);
+ const [loaderAngle, setLoaderAngle] = useState(0);
const [forkDis, setForkDis] = useState(0);
const [realTrayList, setRealTrayList] = useState([]);
@@ -52,9 +84,9 @@
// group theta
if (groupTheta !== theta && props.theta !== null) {
- const minTheta = Common.normalizeAngle(theta);
+ const targetTheta = Common.normalizeAngle(theta - groupTheta) + groupTheta;
new TWEEN.Tween({ value: groupTheta })
- .to({ value: minTheta }, INTERVAL_TIME)
+ .to({ value: targetTheta }, INTERVAL_TIME)
.easing(TWEEN.Easing.Linear.None)
.onUpdate((e) => {
setGroupTheta(e.value)
@@ -78,31 +110,24 @@
}
// loader theta
- const loaderAbsoluteAngle = (theta + loaderTheta) % 360;
- // console.log("integrateTheta", integrateTheta);
- // console.log("theta", theta);
- // console.log("loaderTheta", loaderTheta);
- // console.log("loaderAbsoluteAngle", loaderAbsoluteAngle);
- if (integrateTheta !== loaderAbsoluteAngle && props.loaderTheta !== null) {
- const minTheta = Common.normalizeAngle(loaderAbsoluteAngle);
- // const minTheta = Common.minDiffTheta(integrateTheta, loaderAbsoluteAngle);
- new TWEEN.Tween({ value: integrateTheta })
- .to({ value: minTheta }, INTERVAL_TIME)
+ const loaderTargetTheta = Common.normalizeAngle(loaderTheta + 90);
+ if (loaderAngle !== loaderTargetTheta && props.loaderTheta !== null) {
+ new TWEEN.Tween({ value: loaderAngle })
+ .to({ value: loaderTargetTheta }, INTERVAL_TIME)
.easing(TWEEN.Easing.Linear.None)
.onUpdate((e) => {
- setIntegrateTheta(e.value)
+ setLoaderAngle(e.value)
})
.onComplete((e) => {
- setIntegrateTheta(e.value)
+ setLoaderAngle(e.value)
}).start();
}
// 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)
@@ -158,21 +183,21 @@
<primitive object={bodyModel} castShadow />
<group
position-y={loaderHeight}
- rotation-y={Common.rotationParseNum(integrateTheta)}
+ rotation-y={Common.rotationParseNum(loaderAngle)}
>
<primitive object={loaderModel} castShadow position={[0, 20, 0]} />
<group position-z={forkDis}>
<primitive object={forkModel} castShadow position={[0, 25, 0]} />
- {hasBox && <Box position={[0, 24, 0]} />}
+ {(hasBox || getLoaderHasBox(loaderAngle, finger1, finger2, finger3, finger4)) && <Box position={[0, 26, 0]} />}
</group>
</group>
<group>
- {realTrayList?.[0]?.hasBox && <Box rotationY={Math.PI / 2} position={[-43, 25, 0]} />}
- {realTrayList?.[1]?.hasBox && <Box rotationY={Math.PI / 2} position={[-43, 48, 0]} />}
- {realTrayList?.[2]?.hasBox && <Box rotationY={Math.PI / 2} position={[-43, 71, 0]} />}
- {realTrayList?.[3]?.hasBox && <Box rotationY={Math.PI / 2} position={[-43, 94, 0]} />}
- {realTrayList?.[4]?.hasBox && <Box rotationY={Math.PI / 2} position={[-43, 117, 0]} />}
- {realTrayList?.[5]?.hasBox && <Box rotationY={Math.PI / 2} position={[-43, 140, 0]} />}
+ {realTrayList?.[0]?.hasBox && <Box rotationY={Math.PI / 2} position={[-60, 34, 0]} />}
+ {realTrayList?.[1]?.hasBox && <Box rotationY={Math.PI / 2} position={[-60, 66, 0]} />}
+ {realTrayList?.[2]?.hasBox && <Box rotationY={Math.PI / 2} position={[-60, 99, 0]} />}
+ {realTrayList?.[3]?.hasBox && <Box rotationY={Math.PI / 2} position={[-60, 131, 0]} />}
+ {realTrayList?.[4]?.hasBox && <Box rotationY={Math.PI / 2} position={[-60, 163, 0]} />}
+ {realTrayList?.[5]?.hasBox && <Box rotationY={Math.PI / 2} position={[-60, 195, 0]} />}
</group>
</group>
</>
--
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