From ba74624d44eb5bfaa45b259a985d2d64e1c51e22 Mon Sep 17 00:00:00 2001
From: LAPTOP-SNT8I5JK\Boounion <Chenluhua@qq.com>
Date: 星期六, 21 六月 2025 14:32:23 +0800
Subject: [PATCH] 1.从Aligner到Fliper时，使用Arm1;
---
SourceCode/Bond/Servo/CMaster.cpp | 7 +++++--
1 files changed, 5 insertions(+), 2 deletions(-)
diff --git a/SourceCode/Bond/Servo/CMaster.cpp b/SourceCode/Bond/Servo/CMaster.cpp
index 76ec313..6498901 100644
--- a/SourceCode/Bond/Servo/CMaster.cpp
+++ b/SourceCode/Bond/Servo/CMaster.cpp
@@ -509,6 +509,9 @@
}
if (m_pActiveRobotTask != nullptr) {
+ if (m_pActiveRobotTask->isPicked()) {
+ m_pActiveRobotTask->place();
+ }
unlock();
// 检测到当前有正在下午的任务，确保当前任务完成或中止后继续
// LOGI("检测到当前有正在下午的任务，确保当前任务完成或中止后继续...");
@@ -695,7 +698,7 @@
// Aligner -> Fliper(G2)
// Aligner -> VacuumBake(G1)
if (!rmd.armState[1]) {
- m_pActiveRobotTask = createTransferTask(pAligner, pFliper, primaryType, secondaryType, 2);
+ m_pActiveRobotTask = createTransferTask(pAligner, pFliper, primaryType, secondaryType);
if (m_pActiveRobotTask != nullptr) {
m_pActiveRobotTask->pick();
std::string strDescription = m_pActiveRobotTask->getDescription();
@@ -924,7 +927,7 @@
) {
LOGI("取片完成.");
m_pActiveRobotTask->fetchOut();
- m_pActiveRobotTask->place();
+ m_pActiveRobotTask->picked();
}
else if (m_pActiveRobotTask != nullptr
--
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