From d694b65bb0c5e511b6d59b1f6eaeb7d6ace8f4ef Mon Sep 17 00:00:00 2001
From: lsh <lsh@163.com>
Date: 星期四, 20 三月 2025 23:21:57 +0800
Subject: [PATCH] *

---
 src/main/java/com/zy/core/MainProcess.java |   21 +++++++++++++++------
 1 files changed, 15 insertions(+), 6 deletions(-)

diff --git a/src/main/java/com/zy/core/MainProcess.java b/src/main/java/com/zy/core/MainProcess.java
index 7a41bfb..66ec143 100644
--- a/src/main/java/com/zy/core/MainProcess.java
+++ b/src/main/java/com/zy/core/MainProcess.java
@@ -27,6 +27,7 @@
     // 棰戠巼
     private int i = 0;
     private int j = 0;
+    private int k = 0;
 
     /**
      * =====>>  寮�濮嬪伐浣�
@@ -62,7 +63,7 @@
                     // 鎷f枡銆佸苟鏉裤�佺洏鐐瑰啀鍏ュ簱鎷嗙洏鍖�   1妤兼媶鍨涗綅缃�
                     mainService.stnToCrnStnPick2();
                     // 2妤�212鍛煎彨绌烘澘
-                    mainService.stnToCrnStnPick3Auto(i);
+//                    mainService.stnToCrnStnPick3Auto(i);
                     // 鍑哄簱  ===>>  鍫嗗灈鏈哄嚭搴撶珯鍒板嚭搴撶珯
                     mainService.crnStnToOutStn();
                     // 鍏ュ嚭搴�  ===>>  鍫嗗灈鏈哄叆鍑哄簱浣滀笟涓嬪彂
@@ -74,12 +75,16 @@
 
                     /////////////////////////////////////RGV璋冨害/////////////////////////////////////
                     i++;
-                    if (i<8) {
+                    k++;
+                    if (i<7) {
                         // RGV  ===>>  灏忚溅浠诲姟浣滀笟涓嬪彂
                         try{
                             boolean rgvIoExecuteSign = mainService.rgvIoExecute(i);
-                            if (rgvIoExecuteSign && (i==6)){
-                                i = 0;
+                            if (rgvIoExecuteSign){
+                                k = 0;
+                            } else if (k>7){
+                                k = 0;
+                                mainService.rgvRunWrkMastEmptyStaAvoidance();//閬胯
                             }
                         }catch (Exception e){
                             log.error("RGV  ===>>  灏忚溅浠诲姟浣滀笟涓嬪彂寮傚父"+e);
@@ -127,11 +132,15 @@
 //                    mainService.stackingCompletionDriveTray3();
                     //鎷嗗灈瀹屾垚缁х画涓嬩竴姝�  杩愯閫斾腑鑷姩閬胯绌烘澘
                     mainService.stackingCompletionDriveTray4();
-                    //鎷嗗灈瀹屾垚鎵樼洏缁х画涓嬩竴姝�
-                    mainService.stackingCompletionDriveTrayOk2();
+                    //鎷嗗灈瀹屾垚鎵樼洏缁х画涓嬩竴姝�2==3搴熷純
+//                    mainService.stackingCompletionDriveTrayOk2();
                     //閫�璐х爜鍨涘畬鎴愭墭鐩樼户缁笅涓�姝�
                     mainService.stackingCompletionDriveTrayOk3();
 
+                    mainService.armNoStartTwoLo();
+                    mainService.armNoCleanUpTwoLo();
+
+
                 } catch (Exception e) {
                     e.printStackTrace();
                 }

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