From 6ea30a9291bfcf21fda724f9957405bbe3fecbd5 Mon Sep 17 00:00:00 2001 From: lsh <lsh@163.com> Date: 星期一, 15 四月 2024 15:34:44 +0800 Subject: [PATCH] # --- src/main/java/com/zy/core/MainProcess.java | 53 ++++++++++++++++------------------------------------- 1 files changed, 16 insertions(+), 37 deletions(-) diff --git a/src/main/java/com/zy/core/MainProcess.java b/src/main/java/com/zy/core/MainProcess.java index 48c9273..e86a7d6 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� @@ -61,6 +62,8 @@ mainService.stnToCrnStnPick(); // 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); // 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 @@ -71,66 +74,42 @@ mainService.storeFinished(); /////////////////////////////////////RGV璋冨害///////////////////////////////////// - -// //缁戝畾灏忚溅鏂规硶 -// mainService.rgvBindSte(); -// mainService.rgvBindSte2(); -//// // 鍏ュ嚭搴� ===>> RGV鍏ュ嚭搴撲綔涓氫笅鍙� -// mainService.rgvIoExecute(); -// // RGV鍏ュ簱 ===>> 鏍规嵁RGV瀹屾垚淇″彿,鎵ц瀵瑰伐浣滄。鐨勫畬鎴愭搷浣� -// mainService.rgvFinished(); -// // 鍏ュ嚭搴� ===>> RGV鍑哄簱绔欏埌绯荤粺鍏ュ嚭搴撶珯 -// mainService.rgvDestStnToCrnStn(); -// // 鍑哄簱 ===>> RGV鍑哄簱绔欏埌绯荤粺鍑哄簱绔� -// mainService.rgvOutDStnToOutStn(); - - //瀹屾垚灏忚溅浠诲姟 - mainService.rgvCompleteWrkMastSta(); i++; + k++; if (i<7) { // RGV ===>> 灏忚溅浠诲姟浣滀笟涓嬪彂 try{ - mainService.rgvIoExecute(i); + boolean rgvIoExecuteSign = mainService.rgvIoExecute(i); + 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); } }else { i = 0; } - - -// //鎵ц灏忚溅璐х墿鎼繍浠诲姟 -// mainService.rgvRunWrkMastFullSta(); -// //鎵ц灏忚溅绌烘澘鎼繍浠诲姟 -// mainService.rgvRunWrkMastEmptyStaPut();//鏀�//鎷嗙洏 -// mainService.rgvRunWrkMastEmptyStaPutFull();//婊℃斁 -// mainService.rgvRunWrkMastEmptyStaTake();//鍙栧彔鐩� -// mainService.rgvRunWrkMastEmptyStaTakeFull();////婊″彇 -// mainService.rgvRunWrkMastEmptyStaAvoidance();//閬胯 - + //瀹屾垚灏忚溅浠诲姟 + mainService.rgvCompleteWrkMastSta(); /////////////////////////////////////RGV璋冨害///////////////////////////////////// // 寮傚父淇℃伅璁板綍 mainService.recErr(); // 鍏ュ簱 ===>> 绌烘爤鏉垮垵濮嬪寲鍏ュ簱,鍙夎溅鍏ュ簱绔欐斁璐� 2妤� mainService.storeEmptyPlt(); - // 鍏ュ簱 ===>> 绌烘爤鏉垮垵濮嬪寲鍏ュ簱,1妤煎彔鐩樻満鍙犵洏 - mainService.storeEmptyPlt2(); // 鍏ュ簱 ===>> 绌烘爤鏉垮垵濮嬪寲鍏ュ簱,1妤煎彔鐩樻満绌烘澘鍏ュ簱 mainService.storeEmptyPlt3(); + // 鍏ュ簱 ===>> 绌烘爤鏉垮垵濮嬪寲鍏ュ簱,1妤煎彔鐩樻満鍙犵洏 + mainService.storeEmptyPlt2(); // 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� 绌烘澘鍙犵洏 mainService.storeEmptyPlt4(); // 鍑哄簱 ===>> 宸ヤ綔妗d俊鎭啓鍏ed鏄剧ず鍣� mainService.ledExecute(); // 鍏朵粬 ===>> LED鏄剧ず鍣ㄥ浣嶏紝鏄剧ず榛樿淇℃伅 mainService.ledReset(); - -// mainService.outOfDevp(); - -// //绌烘墭鐩樿嚜鍔ㄥ嚭搴� -// mainService.autoEmptyOut(); -// //绌烘墭鐩樿嚜鍔ㄥ叆搴� -// mainService.autoEmptyIn(); // // 鍏朵粬 ===>> 鍏ュ嚭搴撴ā寮忓垏鎹� // i++; @@ -147,7 +126,7 @@ //鐮佸灈瀹屾垚椹卞姩鎵樼洏涓嬩竴姝ユ壂鐮佸叆搴� mainService.stackingCompletionDriveTray(); - //鎷嗗灈瀹屾垚缁х画涓嬩竴姝� + //鎷嗗灈瀹屾垚缁х画涓嬩竴姝� 鍑哄簱鑷虫湀鍙板嚭搴撳彛 mainService.stackingCompletionDriveTray2(); //璐存爣瀹屾垚缁х画涓嬩竴姝� // mainService.stackingCompletionDriveTray3(); -- Gitblit v1.9.1