From 990e2bbe9084a072b107574b0936ec1eede5c445 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E7=8E=8B?= <1063331231@qq.com> Date: Thu, 12 Jun 2025 01:35:56 +0800 Subject: [PATCH] =?UTF-8?q?=E7=A7=BB=E9=99=A4=E4=BD=BF=E7=94=A8=E6=9C=BA?= =?UTF-8?q?=E6=A2=B0=E8=87=82=E6=A0=87=E5=BF=97?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- src/main/java/com/iflytop/sgs/app/cmd/control/OutTrayCommand.java | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/java/com/iflytop/sgs/app/cmd/control/OutTrayCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/control/OutTrayCommand.java index a8e86dd..a5b74bc 100644 --- a/src/main/java/com/iflytop/sgs/app/cmd/control/OutTrayCommand.java +++ b/src/main/java/com/iflytop/sgs/app/cmd/control/OutTrayCommand.java @@ -63,7 +63,7 @@ public class OutTrayCommand extends BaseCommandHandler { solutionModuleService.solutionMotorMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//加液机械臂上升 boolean heatTrayExist = deviceSensorService.getTrayStateByHeatModuleCode(targetHeatModuleCode);//获取传感器状态 Assert.isTrue(heatTrayExist, () -> new AppException(ResultCode.TARGET_HEAT_MODULE_NO_TRAY));//加热区无托盘 - deviceStateService.getDeviceState().getTrayByHeatModuleCode(targetHeatModuleCode).setUseArm(true);//使用机械臂标志 + //deviceStateService.getDeviceState().getTrayByHeatModuleCode(targetHeatModuleCode).setUseArm(true);//使用机械臂标志 transferModuleService.transferXMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), targetHeatModuleTrayClawPoint3D.getX() + transferModuleXPickTrayMoveDistance);//将X轴移动至目标加热模块托盘夹取点 + 进出卡槽移动距离 transferModuleService.transferZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), targetHeatModuleTrayClawPoint3D.getZ());//Z轴下降至夹取点，使托盘落入石墨加热盘 transferModuleService.transferXMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), -transferModuleXPickTrayMoveDistance);//X轴进入卡槽 @@ -80,7 +80,7 @@ public class OutTrayCommand extends BaseCommandHandler { trayList.removeIf((tray) -> tray.getHeatModuleCode().equals(targetHeatModuleCode)); } finally { deviceStateService.getCommandMutexState().get().setTransferCommandExecuting(false); - deviceStateService.getDeviceState().getTrayByHeatModuleCode(targetHeatModuleCode).setUseArm(false);//使用机械臂标志 + // deviceStateService.getDeviceState().getTrayByHeatModuleCode(targetHeatModuleCode).setUseArm(false);//使用机械臂标志 } }); }