添加了5个电磁阀+修改了传送带传感器的逻辑

conveyor_controller/conveyor_master_controller2.py

@@ -204,8 +204,8 @@ class SingleMotorController:
                     current_time = time.time()
 
                     # 3. 检测到挡板且满足防抖条件
-                    if (not sensor_status) and (not self.sensor_locked) and \
-                            (current_time - self.last_sensor_trigger) > SENSOR_DEBOUNCE_TIME:
+                    if sensor_status and (not self.sensor_locked) and \
+                        (current_time - self.last_sensor_trigger) > SENSOR_DEBOUNCE_TIME:
                         print(
                             f"\n[传送带{self.conveyor_id}] [{datetime.now().strftime('%H:%M:%S')}] 检测到挡板！立即停止")
                         self.last_sensor_trigger = current_time
@@ -298,7 +298,7 @@ class MasterConveyorController:
         except Exception as e:
             raise RuntimeError(f"485串口初始化失败: {e}")
 
-    def on_sensor_triggered(self):
+    def on_sensor_triggered(self, *args):
         """传感器触发回调（同步两个传送带停止）"""
         with self.sync_lock:
             # 检查是否两个传送带都已触发
@@ -319,6 +319,8 @@ class MasterConveyorController:
         self.conveyor1.start_motor_once()
         self.conveyor2.start_motor_once()
 
+        time.sleep(0.5)    # 等待挡板过去，后续看还需不需要修改参数
+
         # 2. 启动传感器检测线程
         self.conveyor1.start_sensor_thread(self)
         self.conveyor2.start_sensor_thread(self)