写不NG流程：添加传送带运行、步进电机移动、线条个数方便后续夹爪的抓取、气动夹爪控制流程

EMV/EMV_test.py

@@ -100,6 +100,7 @@ class RelayController:
 
         self.press_sensors_thread = None              # 保存按压开关线程对象
         self.press_sensors_monitor_running = False    # 按压传感器监听线程运行标志
+        self.last_press_sensor_status = False         # 记录传感器上一次状态，初始为无信号（用于上升沿检测）
 
     def send_command(self, command):
         """
@@ -291,12 +292,16 @@ class RelayController:
                 # 检测两个传感器任意一个是否触发
                 press_sensor1_status = self.get_device_status(PRESS_SENSOR1, 'sensors')
                 press_sensor2_status = self.get_device_status(PRESS_SENSOR2, 'sensors')
-                if press_sensor1_status or press_sensor2_status:
+                current_sensor_state = press_sensor1_status or press_sensor2_status
+
+                # 上升沿触发（仅从无信号-->有信号时，才触发事件）
+                if current_sensor_state and not self.last_press_sensor_status:
                     press_sensors_triggered.set()    # 触发事件，通知主线程
                     logging.info("双压传感器触发：线条已落到传送带")
-                    # 重置事件（等待下一次触发）
-                    time.sleep(0.1)   # 防重复触发
-                    press_sensors_triggered.clear()
+
+                # 更新上一次传感器状态，为下一次上升沿检测做准备
+                self.last_press_sensor_status = current_sensor_state
+                # 传感器检测间隔
                 time.sleep(check_interval)
             except Exception as e:
                 logging.info(f"双压传感器监听异常: {e}")