From 336223bc858797c0cf0d010d0fb27ec6b5aa321b Mon Sep 17 00:00:00 2001
From: L <L@132>
Date: 星期日, 13 七月 2025 15:28:56 +0800
Subject: [PATCH] *
---
src/main/java/com/zy/core/MainProcess.java | 30 ++++++++++++++++++++++--------
1 files changed, 22 insertions(+), 8 deletions(-)
diff --git a/src/main/java/com/zy/core/MainProcess.java b/src/main/java/com/zy/core/MainProcess.java
index 7a41bfb..cc878e0 100644
--- a/src/main/java/com/zy/core/MainProcess.java
+++ b/src/main/java/com/zy/core/MainProcess.java
@@ -27,6 +27,7 @@
// 棰戠巼
private int i = 0;
private int j = 0;
+ private int k = 0;
/**
* =====>> 寮�濮嬪伐浣�
@@ -46,8 +47,6 @@
//鍒濆鍖朢GV鍦板浘
// mainService.initRgvMap();
- //鍒锋柊RGV鍦板浘
- mainService.refreshRgvMap();
// 婕旂ず
// mainService.crnDemoOfLocMove1();
// 鍏ュ嚭搴撴ā寮忓垏鎹㈠嚱鏁�
@@ -62,7 +61,7 @@
// 鎷ｆ枡銆佸苟鏉裤�佺洏鐐瑰啀鍏ュ簱鎷嗙洏鍖� 1妤兼媶鍨涗綅缃�
mainService.stnToCrnStnPick2();
// 2妤�212鍛煎彨绌烘澘
- mainService.stnToCrnStnPick3Auto(i);
+// mainService.stnToCrnStnPick3Auto(i);
// 鍑哄簱 ===>> 鍫嗗灈鏈哄嚭搴撶珯鍒板嚭搴撶珯
mainService.crnStnToOutStn();
// 鍏ュ嚭搴� ===>> 鍫嗗灈鏈哄叆鍑哄簱浣滀笟涓嬪彂
@@ -72,17 +71,28 @@
// 鍏ュ簱 ===>> 鎵ц瀵瑰伐浣滄。鐨勫畬鎴愭搷浣�
mainService.storeFinished();
+
+ //鍒锋柊RGV鍦板浘
+ mainService.refreshRgvMap();
+
/////////////////////////////////////RGV璋冨害/////////////////////////////////////
i++;
- if (i<8) {
+ k++;
+ if (i<7) {
// RGV ===>> 灏忚溅浠诲姟浣滀笟涓嬪彂
try{
boolean rgvIoExecuteSign = mainService.rgvIoExecute(i);
- if (rgvIoExecuteSign && (i==6)){
- i = 0;
+ if (rgvIoExecuteSign){
+ k = 0;
+ } else if (k>7){
+ k = 0;
+ mainService.rgvRunWrkMastEmptyStaAvoidance();//閬胯
}
}catch (Exception e){
log.error("RGV ===>> 灏忚溅浠诲姟浣滀笟涓嬪彂寮傚父"+e);
+ }
+ if (i==6) {
+ i = 0;
}
}else {
i = 0;
@@ -127,11 +137,15 @@
// mainService.stackingCompletionDriveTray3();
//鎷嗗灈瀹屾垚缁х画涓嬩竴姝� 杩愯閫斾腑鑷姩閬胯绌烘澘
mainService.stackingCompletionDriveTray4();
- //鎷嗗灈瀹屾垚鎵樼洏缁х画涓嬩竴姝�
- mainService.stackingCompletionDriveTrayOk2();
+ //鎷嗗灈瀹屾垚鎵樼洏缁х画涓嬩竴姝�2==3搴熷純
+// mainService.stackingCompletionDriveTrayOk2();
//閫�璐х爜鍨涘畬鎴愭墭鐩樼户缁笅涓�姝�
mainService.stackingCompletionDriveTrayOk3();
+ mainService.armNoStartTwoLo();
+ mainService.armNoCleanUpTwoLo();
+
+
} catch (Exception e) {
e.printStackTrace();
}
--
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