pengqi/wire_controlsystem
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

添加了5个电磁阀+修改了传送带传感器的逻辑

Browse Source
This commit is contained in:
pengqi
2026-01-29 18:30:22 +08:00
parent 070895f3dd
commit 17df13c08e
10 changed files with 670 additions and 512 deletions
Download Patch File Download Diff File Expand all files Collapse all files

63
robot/util_time.py
View File

@ -16,7 +16,7 @@ class MyTimer:
ts = time.time()
return int(ts * 1000) # Convert to milliseconds
# CTon class equivalent in Python
# 通断延时器类
class CTon:
def __init__(self):
self.m_unET = 0
@ -47,18 +47,34 @@ class CTon:
self.m_bPause = False
def SetPause(self, value):
if self.m_bIn:
"""
设置延时暂停/恢复状态，实现延时过程的暂停与继续
:param value: 暂停标志 True表示暂停，False表示恢复
"""
if self.m_bIn: # 仅当输入有效时，运行设置暂停
self.m_bPause = value
if self.m_bPause:
if self.m_bPause: # 暂停时，记录当前已流逝的延时时间，用于恢复记时补偿
self.m_unPauseET = MyTimer.gMyGetTickCount() - self.m_unStartTime
def SetOver(self, value):
"""
手动设置延时完成标记
"""
self.m_bOver = value
def GetStartTime(self):
"""
获取延时启动时的时间戳
"""
return self.m_unStartTime
def Q(self, value_i, value_pt):
"""
触发延时逻辑，判断延时是否完成
:param value_i: 当前输入信号，True表示输入有效，False表示无效
:param value_pt: 延时时间，单位毫秒
:return: True表示延时完成，False表示延时未完成
"""
self.m_bIn = value_i
self.m_unPT = value_pt
un_tick = MyTimer.gMyGetTickCount()
@ -78,36 +94,52 @@ class CTon:
return self.m_bIn and (un_tick >= (self.m_unStartTime + self.m_unPT))
# CClockPulse class equivalent in Python
# 时钟脉冲类
class CClockPulse:
def __init__(self):
self.m_bFirstOut = True
self.m_bTonAOut = False
self.m_bTonBOut = False
self.m_cTonA = CTon()
self.m_cTonB = CTon()
self.m_bFirstOut = True # 首次输出标记
self.m_bTonAOut = False # 延时器A的输出状态
self.m_bTonBOut = False # 延时器B的输出状态
self.m_cTonA = CTon() # 延时器A
self.m_cTonB = CTon() # 延时器B
def Q(self, value_i, run_time, stop_time):
if self.m_bFirstOut:
"""
生成周期性脉冲信号，返回当前脉冲输出状态
:param value_i: 输入信号，True表示输入有效，False表示无效
:param run_time: 运行时间，单位毫秒
:param stop_time: 停止时间，单位毫秒
:return: True表示脉冲输出有效，False表示脉冲输出无效
"""
if self.m_bFirstOut: # 首次输出：按照[运行时间->停止时间]的顺序生成脉冲
self.m_bTonAOut = self.m_cTonA.Q(not self.m_bTonBOut and value_i, run_time)
self.m_bTonBOut = self.m_cTonB.Q(self.m_bTonAOut and value_i, stop_time)
return not self.m_bTonAOut and value_i
else:
else: # 非首次输出：循环交替[停止时间->运行时间]，生成周期性脉冲
self.m_bTonAOut = self.m_cTonA.Q(not self.m_bTonBOut and value_i, stop_time)
self.m_bTonBOut = self.m_cTonB.Q(self.m_bTonAOut and value_i, run_time)
return self.m_bTonAOut and value_i
# CDelayOut class equivalent in Python
# 延时输出类，显示先等待，后输出，输出完成后自动复位的逻辑
class CDelayOut:
def __init__(self):
self.m_cOutTon = CTon()
self.m_cmWaitTon = CTon()
def Reset(self):
"""
复位两个延时器的所有状态
"""
self.m_cOutTon.SetReset()
self.m_cmWaitTon.SetReset()
def Q(self, value_i, wait_time, out_time):
"""
实现等待->输出->复位的闭环逻辑
:param value_i: 输入信号，True表示输入有效，False表示无效
:param wait_time: 等待时间，单位毫秒
:param out_time: 输出时间，单位毫秒
"""
if self.m_cmWaitTon.Q(value_i, wait_time):
if self.m_cOutTon.Q(True, out_time):
self.m_cOutTon.SetReset()
@ -117,12 +149,15 @@ class CDelayOut:
return True
return False
# CRisOrFall class equivalent in Python
# 边沿检测类，上升沿或下降沿触发
class CRisOrFall:
def __init__(self):
self.m_bTemp = False
def Q(self, value_i, ris_or_fall):
"""
边沿检测方法：检测输入信号的上升沿或下降沿，返回检测结果
"""
result = False
if value_i != self.m_bTemp:
if ris_or_fall and value_i: # Rising edge
@ -132,7 +167,7 @@ class CRisOrFall:
self.m_bTemp = value_i
return result
# CTof class equivalent in Python
# 断通电延时器类
class CTof:
def __init__(self):
self.m_cDelayTon = CTon()