From a435a1d1e06263eb1a219384e6b4f1e551c4f89b Mon Sep 17 00:00:00 2001
From: L <L@132>
Date: 星期四, 10 七月 2025 22:11:25 +0800
Subject: [PATCH] *
---
src/main/java/com/zy/core/thread/RgvThread.java | 20 ++++++++++++++++++++
1 files changed, 20 insertions(+), 0 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/RgvThread.java b/src/main/java/com/zy/core/thread/RgvThread.java
index 01d6c8f..6f98c45 100644
--- a/src/main/java/com/zy/core/thread/RgvThread.java
+++ b/src/main/java/com/zy/core/thread/RgvThread.java
@@ -144,6 +144,26 @@
command.setCommand((short)0);
write(command);
break;
+ // 澶嶄綅
+ case 8:
+ RgvCommand command4 = (RgvCommand) task.getData();
+ if (null == command4) {
+ command4 = new RgvCommand();
+ }
+ command4.setRgvNo(slave.getId()); // RGV缂栧彿
+// command4.setTaskNo1((short) command4); // 宸ヤ綔鍙�
+ command4.setAckFinish1((short) 1); // 浠诲姟瀹屾垚纭浣�
+ command4.setTaskMode1(RgvTaskModeType.NONE); // 浠诲姟妯″紡
+ command4.setSourceStaNo1((short)0); // 婧愮珯
+ command4.setDestinationStaNo1((short)0); // 鐩爣绔�
+ command4.setTaskNo2((short) 0); // 宸ヤ綔鍙�
+ command4.setAckFinish2((short) 1); // 浠诲姟瀹屾垚纭浣�
+ command4.setTaskMode2(RgvTaskModeType.NONE); // 浠诲姟妯″紡
+ command4.setSourceStaNo2((short)0); // 婧愮珯
+ command4.setDestinationStaNo2((short)0); // 鐩爣绔�
+ command4.setCommand((short)0);
+ write(command4);
+ break;
// 鍥炲師鐐� 閬胯
case 9:
RgvCommand commandAvoidanceXY = (RgvCommand) task.getData();
--
Gitblit v1.9.1