From cd48943a39d18a4489260c9eef947dfff35073d2 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期四, 20 八月 2020 10:01:06 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/thread/CrnThread.java | 31 ++++++++++++++++++++++---------
1 files changed, 22 insertions(+), 9 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/CrnThread.java b/src/main/java/com/zy/core/thread/CrnThread.java
index 46a00f7..06b844e 100644
--- a/src/main/java/com/zy/core/thread/CrnThread.java
+++ b/src/main/java/com/zy/core/thread/CrnThread.java
@@ -34,7 +34,6 @@
private CrnSlave slave;
private CrnProtocol crnProtocol;
-
public CrnThread(CrnSlave slave) {
this.slave = slave;
}
@@ -243,18 +242,18 @@
// crnThread.write(command);
-// // 3.搴撲綅绉昏浆 婧愬拰鐩爣閮藉彂
+// // 3.搴撲綅绉昏浆 婧愬拰鐩爣閮藉彂 pass
// CrnCommand command = new CrnCommand();
// command.setCrnNo(slave.getId()); // 鍫嗗灈鏈虹紪鍙�
// command.setTaskNo((short) 0); // 宸ヤ綔鍙�
// command.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
// command.setTaskMode(CrnTaskModeType.LOC_MOVE); // 浠诲姟妯″紡: 搴撲綅绉昏浆
-// command.setSourcePosX((short)1); // 婧愬簱浣嶆帓
+// command.setSourcePosX((short)2); // 婧愬簱浣嶆帓
// command.setSourcePosY((short)2); // 婧愬簱浣嶅垪
-// command.setSourcePosZ((short)2); // 婧愬簱浣嶅眰
+// command.setSourcePosZ((short)3); // 婧愬簱浣嶅眰
// command.setDestinationPosX((short)2); // 鐩爣搴撲綅鎺�
-// command.setDestinationPosY((short)3); // 鐩爣搴撲綅鍒�
-// command.setDestinationPosZ((short)3); // 鐩爣搴撲綅灞�
+// command.setDestinationPosY((short)4); // 鐩爣搴撲綅鍒�
+// command.setDestinationPosZ((short)4); // 鐩爣搴撲綅灞�
// crnThread.write(command);
// 4.绔欎綅绉昏浆 婧愬拰鐩爣閮藉彂
@@ -280,9 +279,9 @@
// command.setSourcePosX((short) 0); // 婧愬簱浣嶆帓
// command.setSourcePosY((short) 0); // 婧愬簱浣嶅垪
// command.setSourcePosZ((short) 0); // 婧愬簱浣嶅眰
-// command.setDestinationPosX((short) 2); // 鐩爣搴撲綅鎺�
-// command.setDestinationPosY((short) 1); // 鐩爣搴撲綅鍒�
-// command.setDestinationPosZ((short) 1); // 鐩爣搴撲綅灞�
+// command.setDestinationPosX((short) 0); // 鐩爣搴撲綅鎺�
+// command.setDestinationPosY((short) 0); // 鐩爣搴撲綅鍒�
+// command.setDestinationPosZ((short) 0); // 鐩爣搴撲綅灞�
// crnThread.write(command);
// // 7.鍧愭爣绉昏 鐩爣鍙� pass
@@ -298,6 +297,20 @@
// command.setDestinationPosY((short) 1); // 鐩爣搴撲綅鍒�
// command.setDestinationPosZ((short) 1); // 鐩爣搴撲綅灞�
// crnThread.write(command);
+
+ // 鍙湁鍑虹幇鎸囧畾寮傚父鎵嶈繘琛屽浣�
+// if (crnThread.crnProtocol.getCrnError2().leftTakeNoneErr
+// || crnThread.crnProtocol.getCrnError2().rightTakeNoneErr
+// || crnThread.crnProtocol.getCrnError2().leftPutLoadErr
+// || crnThread.crnProtocol.getCrnError2().rightPutLoadErr) {
+// CrnCommand command = new CrnCommand();
+// command.setCrnNo(1); // 鍫嗗灈鏈虹紪鍙�
+// command.setAckFinish((short) 1); // 浠诲姟瀹屾垚纭浣�
+// command.setTaskMode(CrnTaskModeType.NONE); // 浠诲姟妯″紡
+// Thread.sleep(3000L);
+// crnThread.write(command);
+// }
+
}
}
--
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