From 4070ab454a009c2d4e65d4e40bccefbdbb60a1cf Mon Sep 17 00:00:00 2001
From: zjj <3272660260@qq.com>
Date: 星期三, 21 二月 2024 15:31:12 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/MainProcess.java | 38 +++++++++++++++++++++++++++++++++-----
1 files changed, 33 insertions(+), 5 deletions(-)
diff --git a/src/main/java/com/zy/core/MainProcess.java b/src/main/java/com/zy/core/MainProcess.java
index e328fc6..ac59b57 100644
--- a/src/main/java/com/zy/core/MainProcess.java
+++ b/src/main/java/com/zy/core/MainProcess.java
@@ -26,6 +26,7 @@
private Thread thread;
// 棰戠巼
private int i = 0;
+ private boolean rgcWrk = true;
/**
* =====>> 寮�濮嬪伐浣�
@@ -45,6 +46,9 @@
// 婕旂ず
mainService.crnDemoOfLocMove1();
+ //鍒锋柊RGV鍦板浘
+ mainService.refreshRgvMap();
+
// 鍏ュ嚭搴撴ā寮忓垏鎹㈠嚱鏁�
// mainService.ioConvert();
// 鍏ュ簱 ===>> 鍏ュ簱绔欏埌鍫嗗灈鏈虹珯锛屾牴鎹潯鐮佹壂鎻忕敓鎴愬叆搴撳伐浣滄。
@@ -68,14 +72,18 @@
// 鍑哄簱 ===>> 宸ヤ綔妗ｄ俊鎭啓鍏ed鏄剧ず鍣�
mainService.ledExecute(9);
// 鍏朵粬 ===>> LED鏄剧ず鍣ㄥ浣嶏紝鏄剧ず榛樿淇℃伅
- mainService.ledReset(10);
+ mainService.ledReset();
mainService.outOfDevp(11);
- //绌烘墭鐩樿嚜鍔ㄥ嚭搴�
-// mainService.autoEmptyOut();
-// //绌烘墭鐩樿嚜鍔ㄥ叆搴�
-// mainService.autoEmptyIn();
+ if (i>10){
+ //绌烘墭鐩樿嚜鍔ㄥ嚭搴�
+ mainService.autoEmptyOut();
+ //绌烘墭鐩樿嚜鍔ㄥ叆搴�
+ mainService.autoEmptyIn();
+ i=0;
+ }
+ i++;
// 鍏朵粬 ===>> 鍏ュ嚭搴撴ā寮忓垏鎹�
// i++;
@@ -84,6 +92,26 @@
// i = 0;
// }
+ /////////////////////////////////////RGV璋冨害/////////////////////////////////////
+//
+ //瀹屾垚灏忚溅浠诲姟
+ mainService.rgvCompleteWrkMastSta();
+
+// //鎵ц灏忚溅绌烘澘鎼繍浠诲姟
+// mainService.rgvRunWrkMastEmptyStaPut();//鏀�
+// mainService.rgvRunWrkMastEmptyStaTake();//鍙�
+// if (rgcWrk){
+// //鎵ц灏忚溅璐х墿鎼繍浠诲姟
+ mainService.rgvRunWrkMastFullSta();
+// rgcWrk = false;
+// }else {
+// mainService.rgvRunWrkMastEmptyStaAvoidance();//閬胯
+// rgcWrk = true;
+// }
+
+
+ /////////////////////////////////////RGV璋冨害/////////////////////////////////////
+
} catch (Exception e) {
e.printStackTrace();
}
--
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