From 85e0809d09db2e240f8903698e7a804e88d6de31 Mon Sep 17 00:00:00 2001
From: lsh <lsh@163.com>
Date: 星期五, 14 二月 2025 13:11:10 +0800
Subject: [PATCH] *
---
src/main/java/com/zy/core/MainProcess.java | 14 +++++++++++---
1 files changed, 11 insertions(+), 3 deletions(-)
diff --git a/src/main/java/com/zy/core/MainProcess.java b/src/main/java/com/zy/core/MainProcess.java
index 7a41bfb..39eccda 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�
@@ -74,12 +75,16 @@
/////////////////////////////////////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);
@@ -132,6 +137,9 @@
//閫�璐х爜鍨涘畬鎴愭墭鐩樼户缁笅涓�姝�
mainService.stackingCompletionDriveTrayOk3();
+ mainService.armNoCleanUpTwoLo();
+
+
} catch (Exception e) {
e.printStackTrace();
}
--
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