From b99a7f9d05883f95f2bc8628007a749654843d01 Mon Sep 17 00:00:00 2001
From: luoyifan <luoyifan@qq.com>
Date: Thu, 3 Jul 2025 13:18:09 +0800
Subject: [PATCH] =?UTF-8?q?Script=20=E4=BF=9D=E5=AD=98?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 tw_test/scripts/01.ts       | 39 -------------------------------------
 tw_test/scripts/02.ts       | 47 ---------------------------------------------
 tw_test/scripts/all_test.ts | 35 +++++++++++++++++++++++++++++++++
 tw_test/scripts/charger.ts  |  3 +++
 tw_test/scripts/v1.ts       | 22 +++++++++++++++++++++
 tw_test/scripts/v2.ts       | 22 +++++++++++++++++++++
 6 files changed, 82 insertions(+), 86 deletions(-)
 delete mode 100644 tw_test/scripts/01.ts
 delete mode 100644 tw_test/scripts/02.ts
 create mode 100644 tw_test/scripts/all_test.ts
 create mode 100644 tw_test/scripts/charger.ts
 create mode 100644 tw_test/scripts/v1.ts
 create mode 100644 tw_test/scripts/v2.ts

diff --git a/tw_test/scripts/01.ts b/tw_test/scripts/01.ts
deleted file mode 100644
index 53b8cfa..0000000
--- a/tw_test/scripts/01.ts
+++ /dev/null
@@ -1,39 +0,0 @@
-// 充电
-await RCS.cancelTasks('3')
-await RCS.agvToCharger('3', 'charger1')
-
-// 初始 6_2 的右姿态，转到 6_2 的左姿态
-await RCS.cancelTasks('3');
-await RCS.agvMove('3', '4_2', '', { priority: 1, forceStartWayPointId: '6_2', forceStartDirection: 'RIGHT' })
-
-/* 立刻载货 */
-await RCS.cancelTasks('3');
-await RCS.agvLoad('3', '105_105', { priority: 1, forceStartWayPointId: '4_2', forceStartDirection: 'LEFT' })
-
-/* 立刻卸货 */
-await RCS.cancelTasks('3');
-await RCS.agvUnload('3', '105_105', { priority: 1, forceStartWayPointId: '4_2', forceStartDirection: 'LEFT' })
-
-/* 3_2 -> 2_2 -> 1_2 */
-await RCS.cancelTasks('3');
-await RCS.agvMove('3', '1_2', '', { priority: 1, forceStartWayPointId: '4_2', forceStartDirection: 'LEFT' })
-
-/* 5_2 -> 4_2 -> 3_2 -> 2_2 -> 1_2 -> load -> 2_2 -> unload */
-await RCS.cancelTasks('3');
-await RCS.agvCarry('3', 'rack1/0/0/0', 'rack1/1/0/0', { priority: 1, forceStartWayPointId: '6_2', forceStartDirection: 'RIGHT' })
-
-/* 5_2 -> 4_2 -> 3_2 -> 2_2 -> 1_2 -> load -> 2_2 -> 3_2 -> 4_2 -> 5_2 -> 6_2 -> Rotation180 -> 5_2 -> 4_2 -> unload */
-await RCS.cancelTasks('3');
-await RCS.agvCarry('3', 'rack1/0/0/0', '105_105', { priority: 1, forceStartWayPointId: '6_2', forceStartDirection: 'RIGHT' })
-
-/* 5_2 -> 4_2 -> 3_2 -> 2_2 -> 1_2 -> load */
-await RCS.cancelTasks('3');
-await RCS.agvLoad('3', 'rack1/0/0/0', { priority: 1, forceStartWayPointId: '6_2', forceStartDirection: 'RIGHT' })
-
-/* 4_2 -> 5_2 -> 6_2 -> Rotation180 -> 5_2 -> 4_2 -> load */
-await RCS.cancelTasks('3');
-await RCS.agvLoad('3', '105_105', { priority: 1, forceStartWayPointId: '3_2', forceStartDirection: 'RIGHT' })
-
-/* Rotation180 -> 5_2 -> 4_2 -> unload */
-await RCS.cancelTasks('3');
-await RCS.agvUnload('3', '105_105', { priority: 1, forceStartWayPointId: '6_2', forceStartDirection: 'RIGHT' })
diff --git a/tw_test/scripts/02.ts b/tw_test/scripts/02.ts
deleted file mode 100644
index 76eb505..0000000
--- a/tw_test/scripts/02.ts
+++ /dev/null
@@ -1,47 +0,0 @@
-// 动画
-const cl2 = Model.getClx('199')
-const palletId = 'pallet1125'
-const yy = Model.getPositionByEntityId(palletId).y
-
-cl2.addTravel('1')
-cl2.addRotation(-90)
-cl2.addTravel('8')
-cl2.addArmRaise(yy)
-cl2.addArmExtender()
-cl2.addLoad(palletId)
-cl2.addArmRetractor()
-cl2.addArmLower()
-cl2.addTravel('1')
-cl2.addRotation(0)
-cl2.addTravel('36')
-cl2.addArmRaise(0.3)
-cl2.addArmExtender()
-cl2.addArmLower()
-cl2.addUnload(palletId, '47')
-cl2.addArmRetractor()
-cl2.addTravel('38')
-cl2.taskStartRun()
-
-// 动画
-const cl2 = Model.getCl2('ptr1')
-const palletId = 'pallet1124'
-const yy = Model.getPositionByEntityId(palletId).y
-
-cl2.addTravel('23')
-cl2.addRotation(90)
-cl2.addTravel('27')
-cl2.addArmRaise(yy)
-cl2.addArmExtender()
-cl2.addLoad(palletId)
-cl2.addArmRetractor()
-cl2.addArmLower()
-cl2.addTravel('23')
-cl2.addRotation(-90)
-cl2.addTravel('20')
-cl2.addArmRaise(0.2)
-cl2.addArmExtender()
-cl2.addArmLower()
-cl2.addUnload(palletId, '20')
-cl2.addArmRetractor()
-cl2.addTravel('17')
-cl2.taskStartRun()
diff --git a/tw_test/scripts/all_test.ts b/tw_test/scripts/all_test.ts
new file mode 100644
index 0000000..3a63b86
--- /dev/null
+++ b/tw_test/scripts/all_test.ts
@@ -0,0 +1,35 @@
+// 初始 6_2 的右姿态，转到 6_2 的左姿态
+await RCS.cancelTasks('3');
+await RCS.agvMove('3', '4_2', '', { priority: 1, forceStartWayPointId: '6_2', forceStartDirection: 'RIGHT' })
+
+/* 立刻载货 */
+await RCS.cancelTasks('3');
+await RCS.agvLoad('3', '105_105', { priority: 1, forceStartWayPointId: '4_2', forceStartDirection: 'LEFT' })
+
+/* 立刻卸货 */
+await RCS.cancelTasks('3');
+await RCS.agvUnload('3', '105_105', { priority: 1, forceStartWayPointId: '4_2', forceStartDirection: 'LEFT' })
+
+/* 3_2 -> 2_2 -> 1_2 */
+await RCS.cancelTasks('3');
+await RCS.agvMove('3', '1_2', '', { priority: 1, forceStartWayPointId: '4_2', forceStartDirection: 'LEFT' })
+
+/* 5_2 -> 4_2 -> 3_2 -> 2_2 -> 1_2 -> load -> 2_2 -> unload */
+await RCS.cancelTasks('3');
+await RCS.agvCarry('3', 'rack1/0/0/0', 'rack1/1/0/0', { priority: 1, forceStartWayPointId: '6_2', forceStartDirection: 'RIGHT' })
+
+/* 5_2 -> 4_2 -> 3_2 -> 2_2 -> 1_2 -> load -> 2_2 -> 3_2 -> 4_2 -> 5_2 -> 6_2 -> Rotation180 -> 5_2 -> 4_2 -> unload */
+await RCS.cancelTasks('3');
+await RCS.agvCarry('3', 'rack1/0/0/0', '105_105', { priority: 1, forceStartWayPointId: '6_2', forceStartDirection: 'RIGHT' })
+
+/* 5_2 -> 4_2 -> 3_2 -> 2_2 -> 1_2 -> load */
+await RCS.cancelTasks('3');
+await RCS.agvLoad('3', 'rack1/0/0/0', { priority: 1, forceStartWayPointId: '6_2', forceStartDirection: 'RIGHT' })
+
+/* 4_2 -> 5_2 -> 6_2 -> Rotation180 -> 5_2 -> 4_2 -> load */
+await RCS.cancelTasks('3');
+await RCS.agvLoad('3', '105_105', { priority: 1, forceStartWayPointId: '3_2', forceStartDirection: 'RIGHT' })
+
+/* Rotation180 -> 5_2 -> 4_2 -> unload */
+await RCS.cancelTasks('3');
+await RCS.agvUnload('3', '105_105', { priority: 1, forceStartWayPointId: '6_2', forceStartDirection: 'RIGHT' })
diff --git a/tw_test/scripts/charger.ts b/tw_test/scripts/charger.ts
new file mode 100644
index 0000000..67e11d9
--- /dev/null
+++ b/tw_test/scripts/charger.ts
@@ -0,0 +1,3 @@
+await RCS.cancelTasks('3')
+await RCS.agvToCharger('3', 'charger1')
+// await RCS.agvInfo('4');
\ No newline at end of file
diff --git a/tw_test/scripts/v1.ts b/tw_test/scripts/v1.ts
new file mode 100644
index 0000000..7a92ab4
--- /dev/null
+++ b/tw_test/scripts/v1.ts
@@ -0,0 +1,22 @@
+const cl2 = Model.getCl2('ptr1')
+const palletId = 'pallet1124'
+const yy = Model.getPositionByEntityId(palletId).y
+
+cl2.addTravel('23')
+cl2.addRotation(90)
+cl2.addTravel('27')
+cl2.addArmRaise(yy)
+cl2.addArmExtender()
+cl2.addLoad(palletId)
+cl2.addArmRetractor()
+cl2.addArmLower()
+cl2.addTravel('23')
+cl2.addRotation(-90)
+cl2.addTravel('20')
+cl2.addArmRaise(0.2)
+cl2.addArmExtender()
+cl2.addArmLower()
+cl2.addUnload(palletId, '20')
+cl2.addArmRetractor()
+cl2.addTravel('17')
+cl2.taskStartRun()
\ No newline at end of file
diff --git a/tw_test/scripts/v2.ts b/tw_test/scripts/v2.ts
new file mode 100644
index 0000000..9223bd9
--- /dev/null
+++ b/tw_test/scripts/v2.ts
@@ -0,0 +1,22 @@
+const cl2 = Model.getClx('199')
+const palletId = 'pallet1125'
+const yy = Model.getPositionByEntityId(palletId).y
+
+cl2.addTravel('1')
+cl2.addRotation(-90)
+cl2.addTravel('8')
+cl2.addArmRaise(yy)
+cl2.addArmExtender()
+cl2.addLoad(palletId)
+cl2.addArmRetractor()
+cl2.addArmLower()
+cl2.addTravel('1')
+cl2.addRotation(0)
+cl2.addTravel('36')
+cl2.addArmRaise(0.3)
+cl2.addArmExtender()
+cl2.addArmLower()
+cl2.addUnload(palletId, '47')
+cl2.addArmRetractor()
+cl2.addTravel('38')
+cl2.taskStartRun()
\ No newline at end of file