From 0d8fcb1505ba869290cce9099b42370e4333b708 Mon Sep 17 00:00:00 2001
From: lsh <lsh@163.com>
Date: 星期四, 05 六月 2025 09:44:43 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/MainProcess.java | 67 +++++++++++++--------------------
1 files changed, 26 insertions(+), 41 deletions(-)
diff --git a/src/main/java/com/zy/core/MainProcess.java b/src/main/java/com/zy/core/MainProcess.java
index 48c9273..8cf70e6 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�
@@ -46,8 +47,6 @@
//鍒濆鍖朢GV鍦板浘
// mainService.initRgvMap();
- //鍒锋柊RGV鍦板浘
- mainService.refreshRgvMap();
// 婕旂ず
// mainService.crnDemoOfLocMove1();
// 鍏ュ嚭搴撴ā寮忓垏鎹㈠嚱鏁�
@@ -61,6 +60,8 @@
mainService.stnToCrnStnPick();
// 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);
// 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
@@ -70,67 +71,47 @@
// 鍏ュ簱 ===>> 鎵ц瀵瑰伐浣滄。鐨勫畬鎴愭搷浣�
mainService.storeFinished();
+
+ //鍒锋柊RGV鍦板浘
+ mainService.refreshRgvMap();
+
/////////////////////////////////////RGV璋冨害/////////////////////////////////////
-
-// //缁戝畾灏忚溅鏂规硶
-// mainService.rgvBindSte();
-// mainService.rgvBindSte2();
-//// // 鍏ュ嚭搴� ===>> RGV鍏ュ嚭搴撲綔涓氫笅鍙�
-// mainService.rgvIoExecute();
-// // RGV鍏ュ簱 ===>> 鏍规嵁RGV瀹屾垚淇″彿,鎵ц瀵瑰伐浣滄。鐨勫畬鎴愭搷浣�
-// mainService.rgvFinished();
-// // 鍏ュ嚭搴� ===>> RGV鍑哄簱绔欏埌绯荤粺鍏ュ嚭搴撶珯
-// mainService.rgvDestStnToCrnStn();
-// // 鍑哄簱 ===>> RGV鍑哄簱绔欏埌绯荤粺鍑哄簱绔�
-// mainService.rgvOutDStnToOutStn();
-
- //瀹屾垚灏忚溅浠诲姟
- mainService.rgvCompleteWrkMastSta();
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);
}
}else {
i = 0;
}
-
-
-// //鎵ц灏忚溅璐х墿鎼繍浠诲姟
-// mainService.rgvRunWrkMastFullSta();
-// //鎵ц灏忚溅绌烘澘鎼繍浠诲姟
-// mainService.rgvRunWrkMastEmptyStaPut();//鏀�//鎷嗙洏
-// mainService.rgvRunWrkMastEmptyStaPutFull();//婊℃斁
-// mainService.rgvRunWrkMastEmptyStaTake();//鍙栧彔鐩�
-// mainService.rgvRunWrkMastEmptyStaTakeFull();////婊″彇
-// mainService.rgvRunWrkMastEmptyStaAvoidance();//閬胯
-
+ //瀹屾垚灏忚溅浠诲姟
+ mainService.rgvCompleteWrkMastSta();
/////////////////////////////////////RGV璋冨害/////////////////////////////////////
// 寮傚父淇℃伅璁板綍
mainService.recErr();
// 鍏ュ簱 ===>> 绌烘爤鏉垮垵濮嬪寲鍏ュ簱,鍙夎溅鍏ュ簱绔欐斁璐� 2妤�
mainService.storeEmptyPlt();
- // 鍏ュ簱 ===>> 绌烘爤鏉垮垵濮嬪寲鍏ュ簱,1妤煎彔鐩樻満鍙犵洏
- mainService.storeEmptyPlt2();
// 鍏ュ簱 ===>> 绌烘爤鏉垮垵濮嬪寲鍏ュ簱,1妤煎彔鐩樻満绌烘澘鍏ュ簱
mainService.storeEmptyPlt3();
+ // 鍏ュ簱 ===>> 绌烘爤鏉垮垵濮嬪寲鍏ュ簱,1妤煎彔鐩樻満鍙犵洏
+ mainService.storeEmptyPlt2();
// 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� 绌烘澘鍙犵洏
mainService.storeEmptyPlt4();
// 鍑哄簱 ===>> 宸ヤ綔妗ｄ俊鎭啓鍏ed鏄剧ず鍣�
mainService.ledExecute();
// 鍏朵粬 ===>> LED鏄剧ず鍣ㄥ浣嶏紝鏄剧ず榛樿淇℃伅
mainService.ledReset();
-
-// mainService.outOfDevp();
-
-// //绌烘墭鐩樿嚜鍔ㄥ嚭搴�
-// mainService.autoEmptyOut();
-// //绌烘墭鐩樿嚜鍔ㄥ叆搴�
-// mainService.autoEmptyIn();
// // 鍏朵粬 ===>> 鍏ュ嚭搴撴ā寮忓垏鎹�
// i++;
@@ -147,17 +128,21 @@
//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();
//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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