Description:
6.03.00020 Mode 2/3 enhancements
Wait earlier than beginning the following row if the rendezvous level is near the row finish.
use A* to calculate distance to mix earlier than the
rendezvous.
mix notifies unloader on missed rendezvous, unloader
re-plans route
attempt to strategy mix ready after backing out of the fruit
from the rear so we gained't lower in entrance of it.
don't decelerate round rendezvous when discharging already
don't ask for a rendezvous when the mix shouldn’t be prepared to,
for instance when unload is disabled on the primary headland.
gained't provoke new rendezvous till the mix cancels the present one
transfer up rendezvous factors near row finish
pipe in fruit map modified to have a 20 m buffer at every finish of the
row to account for non-perpendicular headlands.
mounted offsets when calculating goal to mix, typically it
used the facet offset as entrance offset.
make sure that to reset 95% full restrict after making pocket
added security margin to the calculation of the gap till full
All this to keep away from the scenario the place the mix stops earlier than reaching
the rendezvous level as a result of it thinks it’s full (though solely 95%)
solely considers unloaders truly ready for task,
ignore those on unload course for instance when a mix
is on the lookout for an unloader
if an unloader is already assigned to a mix, solely it’s
ready for the mix to change into prepared for unload (for instance
attributable to fruit in pipe), assign the identical mix to it. This
ought to in all probability be refactored, including a brand new state for the unloader,
like WAITING_FOR_COMBINE_TO_BECOME_READY or so.
Credit:
DevTeam
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