From d6335a2f0540388ab1844fc42d1f770b26c85b6f Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期二, 01 八月 2023 13:27:11 +0800
Subject: [PATCH] 将行走节点添加到每一步移动命令中
---
src/main/java/com/zy/core/model/protocol/NyShuttleProtocol.java | 10 ++++++++++
1 files changed, 10 insertions(+), 0 deletions(-)
diff --git a/src/main/java/com/zy/core/model/protocol/NyShuttleProtocol.java b/src/main/java/com/zy/core/model/protocol/NyShuttleProtocol.java
index f6cd422..9fefa15 100644
--- a/src/main/java/com/zy/core/model/protocol/NyShuttleProtocol.java
+++ b/src/main/java/com/zy/core/model/protocol/NyShuttleProtocol.java
@@ -438,4 +438,14 @@
}
}
+ // 鏄惁澶勪簬绌洪棽寰呭懡鐘舵��
+ public Boolean isIdleNoCharge() {
+ boolean res = this.free == ShuttleStatusType.IDLE.id
+ && this.pakMk.equals(true)
+ && this.errState == 0
+ && this.taskNo == 0
+ && this.protocolStatus == ShuttleProtocolStatusType.IDLE.id
+ ;
+ return res;
+ }
}
--
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