From 44fa920bbcf6cd94c81f3a6d2f3008925a8635ca Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期四, 11 五月 2023 09:40:39 +0800
Subject: [PATCH] 四向穿梭车命令封装
---
src/main/java/com/zy/core/thread/ShuttleThread.java | 26 +++++++++++++++++++-------
1 files changed, 19 insertions(+), 7 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/ShuttleThread.java b/src/main/java/com/zy/core/thread/ShuttleThread.java
index 2df784a..e6eac50 100644
--- a/src/main/java/com/zy/core/thread/ShuttleThread.java
+++ b/src/main/java/com/zy/core/thread/ShuttleThread.java
@@ -918,7 +918,7 @@
* 鑾峰彇鎵樼洏椤跺崌鍛戒护
* @param lift 1椤跺崌锛�2涓嬮檷
*/
- private ShuttleCommand getPalletCommand(Short lift) {
+ public ShuttleCommand getPalletCommand(Short lift) {
ShuttleCommand command = new ShuttleCommand();
command.setCommandWord((short) 2);
command.setStartCodeNum((short) 0);
@@ -938,7 +938,7 @@
* 姝ｅ父绉诲姩鍛戒护
* @return
*/
- private ShuttleCommand getMoveCommand(Short startCodeNum, Short distCodeNum, Integer startToDistDistance, Short runDirection) {
+ public ShuttleCommand getMoveCommand(Short startCodeNum, Short distCodeNum, Integer startToDistDistance, Short runDirection) {
ShuttleCommand command = new ShuttleCommand();
command.setCommandWord((short) 1);
command.setStartCodeNum(startCodeNum);
@@ -957,7 +957,7 @@
* 寮哄埗绉诲姩鍛戒护
* @param direction 绉诲姩鏂瑰悜 1宸︾Щ锛�2鍙崇Щ锛�3鍓嶇Щ锛�4鍚庣Щ
*/
- private ShuttleCommand getForceMoveCommand(Short direction) {
+ public ShuttleCommand getForceMoveCommand(Short direction) {
ShuttleCommand command = new ShuttleCommand();
command.setCommandWord((short) 3);
command.setStartCodeNum((short) 0);
@@ -975,7 +975,7 @@
/**
* 鐘舵�佸浣嶅懡浠�
*/
- private ShuttleCommand getResetCommand() {
+ public ShuttleCommand getResetCommand() {
ShuttleCommand command = new ShuttleCommand();
command.setCommandWord((short) 6);
command.setStartCodeNum((short) 0);
@@ -998,7 +998,7 @@
* 鑾峰彇瀵诲簱浣嶅懡浠�
* @param direction 1:鍚戞鏂瑰悜(宸�)瀵诲簱浣�,2:鍚戣礋鏂瑰悜(鍙�)瀵诲簱浣�,3:鍚戣礋鏂瑰悜(鍚�)瀵诲簱浣�,4:鍚戞鏂瑰悜(鍓�)瀵诲簱浣�
*/
- private ShuttleCommand getFindLocCommand(Short direction, Integer startToDistance, Short runSpeed) {
+ public ShuttleCommand getFindLocCommand(Short direction, Integer startToDistance, Short runSpeed) {
ShuttleCommand command = new ShuttleCommand();
command.setCommandWord((short) 4);
command.setRunDirection(direction);
@@ -1012,14 +1012,14 @@
* 鑾峰彇瀵诲簱浣嶅懡浠わ紝榛樿绉诲姩璺濈3000锛岃繍琛岄�熷害1000
* @param direction 1:鍚戞鏂瑰悜(宸�)瀵诲簱浣�,2:鍚戣礋鏂瑰悜(鍙�)瀵诲簱浣�,3:鍚戣礋鏂瑰悜(鍚�)瀵诲簱浣�,4:鍚戞鏂瑰悜(鍓�)瀵诲簱浣�
*/
- private ShuttleCommand getFindLocCommand(Short direction) {
+ public ShuttleCommand getFindLocCommand(Short direction) {
return getFindLocCommand(direction, 3000, (short) 1000);
}
/**
* 鑾峰彇鍏呯數寮�鍏冲懡浠�
*/
- private ShuttleCommand getChargeSwitchCommand() {
+ public ShuttleCommand getChargeSwitchCommand() {
ShuttleCommand command = new ShuttleCommand();
command.setCommandWord((short) 8);
command.setIOControl((short) 4);
@@ -1027,6 +1027,18 @@
return command;
}
+ /**
+ * charge锛�1=>寮�濮嬪厖鐢碉紝2=>鏂紑鍏呯數
+ */
+ public ShuttleCommand getChargeSwitchCommand(Short charge) {
+ ShuttleCommand command = new ShuttleCommand();
+ command.setCommandWord((short) 5);//鍏呯數
+ command.setShuttleNo(shuttleProtocol.getShuttleNo());
+ command.setChargeSwitch(charge);//寮�濮嬪厖鐢�
+ command.setCommandEnd((short) 1);
+ return command;
+ }
+
/******************************************************************************************/
/**************************************** 娴嬭瘯涓撶敤 *****************************************/
/*****************************************************************************************/
--
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