From 923321a2259f1d96d5583d226a615422c316f898 Mon Sep 17 00:00:00 2001
From: lsh <lsh@163.com>
Date: 星期一, 24 二月 2025 13:39:41 +0800
Subject: [PATCH] *
---
src/main/java/com/zy/asrs/controller/RgvController.java | 2
src/main/java/com/zy/asrs/utils/Utils.java | 188 +++++++++++++++++++++++++++++++++++++++++++++++
2 files changed, 189 insertions(+), 1 deletions(-)
diff --git a/src/main/java/com/zy/asrs/controller/RgvController.java b/src/main/java/com/zy/asrs/controller/RgvController.java
index d7a73c0..1329076 100644
--- a/src/main/java/com/zy/asrs/controller/RgvController.java
+++ b/src/main/java/com/zy/asrs/controller/RgvController.java
@@ -353,7 +353,7 @@
// ringThroughParam.setIndex(i);
// double[] doubles = Utils.RingThroughXY2(perimeter, NumUtils.GetRandomIntInRange(183));
// double[] doubles = Utils.RingThroughXYRgv(perimeter, perimeter-rgvProtocol.RgvPos.doubleValue());
- double[] doubles = Utils.getRgvPos(perimeter, rgvProtocol.RgvPos.doubleValue());
+ double[] doubles = Utils.getRgvPosNew(perimeter, rgvProtocol.RgvPos.doubleValue());
// double[] doubles = Utils.RingThroughXY2(183.0, 100*i );
ringThroughParam.setValueX(doubles[0]-2.94);
diff --git a/src/main/java/com/zy/asrs/utils/Utils.java b/src/main/java/com/zy/asrs/utils/Utils.java
index 2cbe72d..576a075 100644
--- a/src/main/java/com/zy/asrs/utils/Utils.java
+++ b/src/main/java/com/zy/asrs/utils/Utils.java
@@ -130,7 +130,195 @@
return new double[]{x, y};
}
+ public static double[] getRgvPosNew(double a, double b) {
+ // 瀹氫箟鍖洪棿鍜屽搴旂殑 (x, y) 鍧愭爣
+ double[][] intervals = {
+ {0, 134400, 390, 775, 25, 830},
+ {134400, 134900, 25, 830, 65, 882},
+ {134900, 196000, 65, 882, 83, 882},
+ {196000, 217480, 83, 882, 110, 882},
+ {217480, 217980, 110, 882, 121, 882},
+ {217980, 227777, 121, 882, 132, 882},
+ {227777, 237574, 132, 882, 143, 882},
+ {237574, 247371, 143, 882, 154, 882},
+ {247371, 257168, 154, 882, 165, 882},
+ {257168, 257668, 165, 882, 176, 882},
+ {257668, 262455, 176, 882, 187, 882},
+ {262455, 267242, 187, 882, 198, 882},
+ {267242, 272029, 198, 882, 209, 882},
+ {272029, 276817, 209, 882, 220, 882},
+ {276817, 277317, 220, 882, 231, 882},
+ {277317, 284630, 231, 882, 242, 882},
+ {284630, 291943, 242, 882, 253, 882},
+ {291943, 299256, 253, 882, 264, 882},
+ {299256, 306570, 264, 882, 275, 882},
+ {306570, 307070, 275, 882, 286, 882},
+ {307070, 314399, 286, 882, 297, 882},
+ {314399, 321729, 297, 882, 308, 882},
+ {321729, 329058, 308, 882, 319, 882},
+ {329058, 336388, 319, 882, 330, 882},
+ {336388, 336888, 330, 882, 341, 882},
+ {336888, 344181, 341, 882, 352, 882},
+ {344181, 351474, 352, 882, 363, 882},
+ {351474, 358767, 363, 882, 374, 882},
+ {358767, 366061, 374, 882, 385, 882},
+ {366061, 366561, 385, 882, 396, 882},
+ {366561, 370134, 396, 882, 407, 882},
+ {370134, 373708, 407, 882, 418, 882},
+ {373708, 377282, 418, 882, 429, 882},
+ {377282, 380856, 429, 882, 440, 882},
+ {380856, 381356, 440, 882, 451, 882},
+ {381356, 385021, 451, 882, 462, 882},
+ {385021, 388687, 462, 882, 473, 882},
+ {388687, 392352, 473, 882, 484, 882},
+ {392352, 396018, 484, 882, 495, 882},
+ {396018, 396518, 495, 882, 506, 882},
+ {396518, 403768, 506, 882, 517, 882},
+ {403768, 411018, 517, 882, 528, 882},
+ {411018, 418268, 528, 882, 539, 882},
+ {418268, 425518, 539, 882, 550, 882},
+ {425518, 426018, 550, 882, 561, 882},
+ {426018, 433329, 561, 882, 572, 882},
+ {433329, 440641, 572, 882, 583, 882},
+ {440641, 447952, 583, 882, 594, 882},
+ {447952, 455264, 594, 882, 605, 882},
+ {455264, 455764, 605, 882, 616, 882},
+ {455764, 459352, 616, 882, 627, 882},
+ {459352, 462940, 627, 882, 638, 882},
+ {462940, 466528, 638, 882, 649, 882},
+ {466528, 470117, 649, 882, 660, 882},
+ {470117, 470617, 660, 882, 671, 882},
+ {470617, 474207, 671, 882, 682, 882},
+ {474207, 477797, 682, 882, 693, 882},
+ {477797, 481387, 693, 882, 704, 882},
+ {481387, 484977, 704, 882, 715, 882},
+ {484977, 485477, 715, 882, 726, 882},
+ {485477, 492773, 726, 882, 737, 882},
+ {492773, 500069, 737, 882, 748, 882},
+ {500069, 507365, 748, 882, 759, 882},
+ {507365, 514662, 759, 882, 770, 882},
+ {514662, 515162, 770, 882, 781, 882},
+ {515162, 522479, 781, 882, 792, 882},
+ {522479, 529797, 792, 882, 803, 882},
+ {529797, 537114, 803, 882, 814, 882},
+ {537114, 544432, 814, 882, 825, 882},
+ {544432, 544932, 825, 882, 836, 882},
+ {544932, 548520, 836, 882, 847, 882},
+ {548520, 552108, 847, 882, 858, 882},
+ {552108, 555696, 858, 882, 869, 882},
+ {555696, 559284, 869, 882, 880, 882},
+ {559284, 559784, 880, 882, 891, 882},
+ {559784, 563356, 891, 882, 908, 882},
+ {563356, 566928, 908, 882, 919, 882},
+ {566928, 570500, 919, 882, 930, 882},
+ {570500, 574073, 930, 882, 941, 882},
+ {574073, 574573, 941, 882, 952, 882},
+ {574573, 581878, 952, 882, 963, 882},
+ {581878, 589183, 963, 882, 974, 882},
+ {589183, 596488, 974, 882, 985, 882},
+ {596488, 603793, 985, 882, 996, 882},
+ {603793, 604293, 996, 882, 1007, 882},
+ {604293, 611652, 1007, 882, 1018, 882},
+ {611652, 619011, 1018, 882, 1029, 882},
+ {619011, 626370, 1029, 882, 1, 882},
+ {626370, 633730, 1, 882, 1040, 882},
+ {633730, 634230, 1040, 882, 1050, 882},
+ {634230, 641833, 1050, 882, 1060, 882},
+ {641833, 649437, 1060, 882, 1070, 882},
+ {649437, 657041, 1070, 882, 1080, 882},
+ {657041, 664645, 1080, 882, 1090, 882},
+ {664645, 672249, 1090, 882, 1100, 882},
+ {672249, 679853, 1100, 882, 1115, 882},
+ {679853, 680353, 1115, 882, 1125, 882},
+ {680353, 685447, 1125, 882, 1125, 880},
+ {685447, 690542, 1125, 880, 1135, 878},
+ {690542, 695637, 1135, 878, 1145, 877},
+ {695637, 700731, 1145, 877, 1155, 875},
+ {700731, 705826, 1155, 875, 1190, 855},
+ {705826, 710921, 1190, 855, 1200, 840},
+ {710921, 716015, 1200, 840, 1210, 820},
+ {716015, 721110, 1210, 820, 1215, 800},
+ {721110, 726205, 1215, 800, 1215, 775},
+ {726205, 746783, 1215, 775, 1215, 770},
+ {746783, 750168, 1215, 770, 1215, 735},
+ {750168, 753554, 1215, 735, 1215, 700},
+ {753554, 756940, 1215, 700, 1215, 665},
+ {756940, 760326, 1215, 665, 1215, 630},
+ {760326, 763712, 1215, 630, 1215, 595},
+ {763712, 767098, 1215, 595, 1215, 560},
+ {767098, 770484, 1215, 560, 1215, 535},
+ {770484, 773870, 1215, 535, 1215, 520},
+ {773870, 774370, 1215, 520, 1215, 502},
+ {774370, 780052, 1215, 502, 1215, 484},
+ {780052, 785735, 1215, 484, 1215, 466},
+ {785735, 791417, 1215, 466, 1215, 448},
+ {791417, 797100, 1215, 448, 1215, 430},
+ {797100, 797600, 1215, 430, 1215, 412},
+ {797600, 815742, 1215, 412, 1215, 394},
+ {815742, 833885, 1215, 394, 1215, 376},
+ {833885, 852027, 1215, 376, 1215, 358},
+ {852027, 870170, 1215, 358, 1215, 340},
+ {870170, 870670, 1215, 340, 1215, 322},
+ {870670, 877815, 1215, 322, 1215, 304},
+ {877815, 884960, 1215, 304, 1215, 286},
+ {884960, 892105, 1215, 286, 1215, 268},
+ {892105, 899250, 1215, 268, 1215, 250},
+ {899250, 899750, 1215, 250, 1215, 225},
+ {899750, 914290, 1215, 225, 1215, 200},
+ {914290, 928830, 1215, 200, 1215, 175},
+ {928830, 943370, 1215, 175, 1215, 150},
+ {943370, 957910, 1215, 150, 1215, 125},
+ {957910, 972450, 1215, 125, 1215, 100},
+ {972450, 972950, 1215, 100, 1164, 80},
+ {972950, 1016193, 1164, 80, 1115, 125},
+ {1016193, 1063563, 1115, 125, 1115, 150},
+ {1063563, 1064063, 1115, 150, 1115, 175},
+ {1064063, 1077711, 1115, 175, 1115, 200},
+ {1077711, 1078211, 1115, 200, 1115, 225},
+ {1078211, 1104788, 1115, 225, 1115, 250},
+ {1104788, 1105288, 1115, 250, 1115, 275},
+ {1105288, 1119213, 1115, 275, 1115, 300},
+ {1119213, 1119713, 1115, 300, 1115, 325},
+ {1119713, 1145902, 1115, 325, 1115, 350},
+ {1145902, 1146402, 1115, 350, 1115, 375},
+ {1146402, 1160380, 1115, 375, 1115, 400},
+ {1160380, 1160880, 1115, 400, 1115, 425},
+ {1160880, 1187314, 1115, 425, 1115, 450},
+ {1187314, 1188214, 1115, 450, 1115, 475},
+ {1188214, 1201849, 1115, 475, 1115, 500},
+ {1201849, 1202349, 1115, 500, 1115, 525},
+ {1202349, 1228831, 1115, 525, 1115, 550},
+ {1228831, 1229331, 1115, 550, 1115, 575},
+ {1229331, 1243204, 1115, 575, 1115, 600},
+ {1243204, 1243704, 1115, 600, 1115, 625},
+ {1243704, 1269708, 1115, 625, 1115, 650},
+ {1269708, 1284750, 1115, 650, 1115, 720},
+ {1284750, 1285250, 1115, 720, 1100, 750},
+ {1285250, 1322829, 1100, 750, 1090, 775},
+ {1322829, 1737000, 1090, 775, 1090, 775}
+ };
+ // 閬嶅巻鍖洪棿锛屾壘鍒� b 鎵�鍦ㄧ殑鍖洪棿
+ for (double[] interval : intervals) {
+ double start = interval[0];
+ double end = interval[1];
+ double startX = interval[2];
+ double startY = interval[3];
+ double endX = interval[4];
+ double endY = interval[5];
+
+ if (b >= start && b <= end) {
+ // 绾挎�ф彃鍊艰绠� x 鍜� y
+ double t = (b - start) / (end - start);
+ double x = startX + t * (endX - startX);
+ double y = startY + t * (endY - startY);
+ return new double[]{x, y};
+ }
+ }
+
+ // 濡傛灉 b 涓嶅湪浠讳綍鍖洪棿鍐咃紝杩斿洖榛樿鍊�
+ return new double[]{0, 0};
+ }
public static double[] getRgvPos(double a,double b) {
// a 鏄�婚暱搴�
// b 鏄綋鍓嶄綅缃�
--
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