VladislavOstapov/sdp-scheduler
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Исправлено время скапывания для пассивации

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VladislavOstapov 2023-02-18 16:21:06 +03:00
parent 61d649b06d
commit 157c0cb9e6
1 changed files with 52 additions and 56 deletions
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6
utils.c
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@ -538,6 +538,7 @@ void create_operation(struct robot_code *code, short barrel_id, const short star
code->code[cmd_index++] = ROBOT_CMD_SET_LOCK_ZONE(ZONE_PASSIVATION); code->code[cmd_index++] = ROBOT_CMD_SET_LOCK_ZONE(ZONE_PASSIVATION);
} }
code->code[cmd_index++] = ROBOT_CMD_UP_WITH_BARREL(); code->code[cmd_index++] = ROBOT_CMD_UP_WITH_BARREL();
code->code[cmd_index++] = ROBOT_CMD_WAIT(hla_time_washing_2);
code->code[cmd_index++] = ROBOT_CMD_MOVE_TO_ZONE_WITH_BARREL(ZONE_PASSIVATION); code->code[cmd_index++] = ROBOT_CMD_MOVE_TO_ZONE_WITH_BARREL(ZONE_PASSIVATION);
code->code[cmd_index++] = ROBOT_CMD_DOWN_WITH_BARREL(); code->code[cmd_index++] = ROBOT_CMD_DOWN_WITH_BARREL();
@ -656,8 +657,6 @@ void create_operation(struct robot_code *code, short barrel_id, const short star
code->code[cmd_index++] = ROBOT_CMD_UP(); code->code[cmd_index++] = ROBOT_CMD_UP();
code->code[cmd_index++] = ROBOT_CMD_DOWN(); code->code[cmd_index++] = ROBOT_CMD_DOWN();
} else { } else {
if (dest_zone != 0) {
// установка времени ожидания барабана // установка времени ожидания барабана
short tmp = -1; short tmp = -1;
if (barrel_id >= 0) { if (barrel_id >= 0) {
@ -709,8 +708,6 @@ void create_operation(struct robot_code *code, short barrel_id, const short star
tmp = barrels[barrel_id].time_washing_4b; tmp = barrels[barrel_id].time_washing_4b;
break; break;
} }
} else {
tmp = 0;
} }
} }
@ -722,7 +719,6 @@ void create_operation(struct robot_code *code, short barrel_id, const short star
} }
} }
} }
}
if (!one_robot_mode) { if (!one_robot_mode) {
if (robot_id == 2) { if (robot_id == 2) {