From cb3a49aa140c8fb4c3caeecc034f3f8b13ed4af1 Mon Sep 17 00:00:00 2001 From: yuliang <398780299@qq.com> Date: Sat, 26 Jul 2025 13:41:25 +0800 Subject: [PATCH] =?UTF-8?q?=E5=98=89=E5=85=B4=E6=B5=8B=E8=AF=95?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- servo/src/main/java/com/galaxis/rcs/amr/AmrDeviceTask.java | 6 +++--- .../main/java/com/galaxis/rcs/connector/amr/fm600/Fm600Item.java | 4 +++- 2 files changed, 6 insertions(+), 4 deletions(-) diff --git a/servo/src/main/java/com/galaxis/rcs/amr/AmrDeviceTask.java b/servo/src/main/java/com/galaxis/rcs/amr/AmrDeviceTask.java index d994fa3..dffc1dd 100644 --- a/servo/src/main/java/com/galaxis/rcs/amr/AmrDeviceTask.java +++ b/servo/src/main/java/com/galaxis/rcs/amr/AmrDeviceTask.java @@ -25,13 +25,13 @@ public class AmrDeviceTask { // 作业类型 UInt8 0：运输 1：接货 2：卸货 3：充电 4：提升移栽取货或卸货 5：滚筒取货或卸货（双向作业） public short operationType; // 提升移栽货物拣货模式 UInt8 0:不控制（无动作） 1:从货架上取货 2:将货物放到货架上 3:仅调整托盘高度（不进行取放货操作） 4:调整车身货物(仅供调试，RCS勿发送此命令) 5:仅调整载货台到取货高度，但是不动作 6:仅调整载货台到放货高度，但是不动作 - public short pickMode; + public Short pickMode; // 目标货位朝向 - public short goodsSlotDirection; + public Short goodsSlotDirection; // 目标货位相对于地面的绝对高度 - public int goodsSlotHeight; + public Integer goodsSlotHeight; //充电桩朝向UseBriefLocation UInt8 0: X轴正向 1: Y轴正向 2: X轴负向 3: Y轴负向 15: 未知方向 public Short chargeDirection; diff --git a/servo/src/main/java/com/galaxis/rcs/connector/amr/fm600/Fm600Item.java b/servo/src/main/java/com/galaxis/rcs/connector/amr/fm600/Fm600Item.java index 78be607..93e272c 100644 --- a/servo/src/main/java/com/galaxis/rcs/connector/amr/fm600/Fm600Item.java +++ b/servo/src/main/java/com/galaxis/rcs/connector/amr/fm600/Fm600Item.java @@ -42,7 +42,9 @@ public class Fm600Item extends AmrAgvItem { } else if (d.pickMode == CPickMode.unload) { d.operationType = COperationType.unload; } - d.pickMode = CPickMode.normal; + d.goodsSlotDirection = null; + d.pickMode = null; + d.goodsSlotHeight = null; // 临时处理方案 d.storageRacksNo = "any"; }