From 3677c6501ed94234f406d6444bab46e90824dac8 Mon Sep 17 00:00:00 2001
From: lsh <lsh@163.com>
Date: 星期一, 24 二月 2025 09:58:16 +0800
Subject: [PATCH] *
---
src/main/java/com/zy/core/MainProcess.java | 18 +++++++++++++++---
1 files changed, 15 insertions(+), 3 deletions(-)
diff --git a/src/main/java/com/zy/core/MainProcess.java b/src/main/java/com/zy/core/MainProcess.java
index 7466feb..dcd461a 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
@@ -74,10 +75,17 @@
/////////////////////////////////////RGV璋冨害/////////////////////////////////////
i++;
+ k++;
if (i<7) {
// RGV ===>> 灏忚溅浠诲姟浣滀笟涓嬪彂
try{
- mainService.rgvIoExecute(i);
+ boolean rgvIoExecuteSign = mainService.rgvIoExecute(i);
+ 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);
}
@@ -118,7 +126,7 @@
//鐮佸灈瀹屾垚椹卞姩鎵樼洏涓嬩竴姝ユ壂鐮佸叆搴�
mainService.stackingCompletionDriveTray();
- //鎷嗗灈瀹屾垚缁х画涓嬩竴姝�
+ //鎷嗗灈瀹屾垚缁х画涓嬩竴姝� 鍑哄簱鑷虫湀鍙板嚭搴撳彛
mainService.stackingCompletionDriveTray2();
//璐存爣瀹屾垚缁х画涓嬩竴姝�
// mainService.stackingCompletionDriveTray3();
@@ -129,6 +137,10 @@
//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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