From 227c4f1fc845080a70f230a2929fe76c204a9d9f Mon Sep 17 00:00:00 2001
From: vincent <1341870251@qq.com>
Date: 星期二, 18 八月 2020 15:08:50 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/thread/CrnThread.java | 20 +++++++++++++++++---
1 files changed, 17 insertions(+), 3 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/CrnThread.java b/src/main/java/com/zy/core/thread/CrnThread.java
index 7ab78f7..73621df 100644
--- a/src/main/java/com/zy/core/thread/CrnThread.java
+++ b/src/main/java/com/zy/core/thread/CrnThread.java
@@ -249,12 +249,12 @@
// command.setTaskNo((short) 0); // 宸ヤ綔鍙�
// command.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
// command.setTaskMode(CrnTaskModeType.LOC_MOVE); // 浠诲姟妯″紡: 搴撲綅绉昏浆
-// command.setSourcePosX((short)1); // 婧愬簱浣嶆帓
-// command.setSourcePosY((short)4); // 婧愬簱浣嶅垪
+// command.setSourcePosX((short)2); // 婧愬簱浣嶆帓
+// command.setSourcePosY((short)2); // 婧愬簱浣嶅垪
// command.setSourcePosZ((short)3); // 婧愬簱浣嶅眰
// command.setDestinationPosX((short)2); // 鐩爣搴撲綅鎺�
// command.setDestinationPosY((short)4); // 鐩爣搴撲綅鍒�
-// command.setDestinationPosZ((short)3); // 鐩爣搴撲綅灞�
+// command.setDestinationPosZ((short)4); // 鐩爣搴撲綅灞�
// crnThread.write(command);
// 4.绔欎綅绉昏浆 婧愬拰鐩爣閮藉彂
@@ -298,6 +298,20 @@
// command.setDestinationPosY((short) 1); // 鐩爣搴撲綅鍒�
// command.setDestinationPosZ((short) 1); // 鐩爣搴撲綅灞�
// crnThread.write(command);
+
+ // 鍙湁鍑虹幇鎸囧畾寮傚父鎵嶈繘琛屽浣�
+// if (crnThread.crnProtocol.getCrnError2().leftTakeNoneErr
+// || crnThread.crnProtocol.getCrnError2().rightTakeNoneErr
+// || crnThread.crnProtocol.getCrnError2().leftPutLoadErr
+// || crnThread.crnProtocol.getCrnError2().rightPutLoadErr) {
+// CrnCommand command = new CrnCommand();
+// command.setCrnNo(1); // 鍫嗗灈鏈虹紪鍙�
+// command.setAckFinish((short) 1); // 浠诲姟瀹屾垚纭浣�
+// command.setTaskMode(CrnTaskModeType.NONE); // 浠诲姟妯″紡
+// Thread.sleep(3000L);
+// crnThread.write(command);
+// }
+
}
}
--
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