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35 lines
1.7 KiB
35 lines
1.7 KiB
// 初始 6_2 的右姿态，转到 6_2 的左姿态
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await RCS.cancelTasks('3');
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await RCS.agvMove('3', '4_2', '', { priority: 1, forceStartWayPointId: '6_2', forceStartDirection: 'RIGHT' })
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/* 立刻载货 */
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await RCS.cancelTasks('3');
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await RCS.agvLoad('3', '105_105', { priority: 1, forceStartWayPointId: '4_2', forceStartDirection: 'LEFT' })
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/* 立刻卸货 */
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await RCS.cancelTasks('3');
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await RCS.agvUnload('3', '105_105', { priority: 1, forceStartWayPointId: '4_2', forceStartDirection: 'LEFT' })
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/* 3_2 -> 2_2 -> 1_2 */
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await RCS.cancelTasks('3');
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await RCS.agvMove('3', '1_2', '', { priority: 1, forceStartWayPointId: '4_2', forceStartDirection: 'LEFT' })
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/* 5_2 -> 4_2 -> 3_2 -> 2_2 -> 1_2 -> load -> 2_2 -> unload */
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await RCS.cancelTasks('3');
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await RCS.agvCarry('3', 'rack1/0/0/0', 'rack1/1/0/0', { priority: 1, forceStartWayPointId: '6_2', forceStartDirection: 'RIGHT' })
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/* 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 */
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await RCS.cancelTasks('3');
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await RCS.agvCarry('3', 'rack1/0/0/0', '105_105', { priority: 1, forceStartWayPointId: '6_2', forceStartDirection: 'RIGHT' })
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/* 5_2 -> 4_2 -> 3_2 -> 2_2 -> 1_2 -> load */
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await RCS.cancelTasks('3');
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await RCS.agvLoad('3', 'rack1/0/0/0', { priority: 1, forceStartWayPointId: '6_2', forceStartDirection: 'RIGHT' })
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/* 4_2 -> 5_2 -> 6_2 -> Rotation180 -> 5_2 -> 4_2 -> load */
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await RCS.cancelTasks('3');
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await RCS.agvLoad('3', '105_105', { priority: 1, forceStartWayPointId: '3_2', forceStartDirection: 'RIGHT' })
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/* Rotation180 -> 5_2 -> 4_2 -> unload */
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await RCS.cancelTasks('3');
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await RCS.agvUnload('3', '105_105', { priority: 1, forceStartWayPointId: '6_2', forceStartDirection: 'RIGHT' })
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