From 145809d96eb56b3500bd3b7464e215c738346795 Mon Sep 17 00:00:00 2001
From: LSH
Date: 星期二, 21 十一月 2023 16:26:27 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/thread/RgvThread.java | 20 ++++++++++++++++++++
1 files changed, 20 insertions(+), 0 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/RgvThread.java b/src/main/java/com/zy/core/thread/RgvThread.java
index c3dd9d8..94d8059 100644
--- a/src/main/java/com/zy/core/thread/RgvThread.java
+++ b/src/main/java/com/zy/core/thread/RgvThread.java
@@ -99,6 +99,26 @@
command.setCommand((short)0);
write(command);
break;
+ // 鍥炲師鐐� 閬胯
+ case 9:
+ RgvCommand commandAvoidanceXY = (RgvCommand) task.getData();
+ if (null == commandAvoidanceXY) {
+ commandAvoidanceXY = new RgvCommand();
+ }
+ commandAvoidanceXY.setRgvNo(slave.getId()); // RGV缂栧彿
+ commandAvoidanceXY.setTaskNo1((short) 9999); // 宸ヤ綔鍙�
+ commandAvoidanceXY.setAckFinish1((short) 1); // 浠诲姟瀹屾垚纭浣�
+ commandAvoidanceXY.setTaskMode1(RgvTaskModeType.GO_ORIGIN); // 浠诲姟妯″紡
+ commandAvoidanceXY.setSourceStaNo1((short)0); // 婧愮珯
+ commandAvoidanceXY.setDestinationStaNo1((short)0); // 鐩爣绔�
+ commandAvoidanceXY.setTaskNo2((short) 0); // 宸ヤ綔鍙�
+ commandAvoidanceXY.setAckFinish2((short) 1); // 浠诲姟瀹屾垚纭浣�
+ commandAvoidanceXY.setTaskMode2(RgvTaskModeType.GO_ORIGIN); // 浠诲姟妯″紡
+ commandAvoidanceXY.setSourceStaNo2((short)0); // 婧愮珯
+ commandAvoidanceXY.setDestinationStaNo2((short)0); // 鐩爣绔�
+ commandAvoidanceXY.setCommand((short)0);
+ write(commandAvoidanceXY);
+ break;
default:
break;
}
--
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