From 8b0421f0bd66db3ce75bf3274f3adde54730cb97 Mon Sep 17 00:00:00 2001
From: Junjie <540245094@qq.com>
Date: 星期五, 01 十二月 2023 18:21:42 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/MainProcess.java | 23 ++++++++++++++---------
1 files changed, 14 insertions(+), 9 deletions(-)
diff --git a/src/main/java/com/zy/core/MainProcess.java b/src/main/java/com/zy/core/MainProcess.java
index f94f7d4..b259c18 100644
--- a/src/main/java/com/zy/core/MainProcess.java
+++ b/src/main/java/com/zy/core/MainProcess.java
@@ -52,6 +52,8 @@
mainService.initRealtimeBasMap();
// 鎷ｆ枡銆佸苟鏉裤�佺洏鐐瑰啀鍏ュ簱
mainService.stnToCrnStnPick();
+ // 鎷ｆ枡銆佸苟鏉裤�佺洏鐐瑰啀鍏ュ簱(325銆�331銆�333銆�339)
+ mainService.stnToCrnStnPick2();
// 鍏ュ簱 ===>> 鍥涘悜绌挎杞﹀叆搴撲綔涓氫笅鍙�
mainService.shuttleInExecute();
// 鍑哄簱 ===>> 鍥涘悜绌挎杞﹀嚭搴撲綔涓氫笅鍙�
@@ -66,10 +68,20 @@
mainService.locToLocExecute();
//鎵ц灏忚溅绉诲簱浠诲姟
mainService.shuttleMoveExecute();
-// // 寮傚父淇℃伅璁板綍
-// mainService.recErr();
+ // 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�
mainService.storeEmptyPlt();
+ // AGV琛ヨ揣 => 鐢熸垚鍏ュ簱閫氱煡妗�
+ mainService.robotGenerateAgvTask();
+ // AGV琛ヨ揣(鏈烘鑷傛嫞鏂�)
+ mainService.agvRestockByRobot();
+ // AGV琛ヨ揣(閫氱煡AGV鍙栬揣)
+ mainService.agvRestockInto();
+ // AGV琛ヨ揣(鎮寕绾块�氱煡AGV鍙栬揣)
+ mainService.agvRestockIntoByHangingWire();
+ // 300绔欐嫞鏂�
+ mainService.pick300();
// 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
@@ -77,13 +89,6 @@
// 绌挎杞� ===>> 灏忚溅鐢甸噺妫�娴嬪厖鐢�
mainService.loopShuttleCharge();
mainService.executeShuttleCharge();
-
-// //鍑哄叆搴撴ā寮�
-// i++;
-// if (i > 1) {
-// mainService.outAndIn();
-// i = 0;
-// }
// 闂撮殧
Thread.sleep(200);
--
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