修改钢针到达抓料点位后再收缩和在震动点不走的问题

CU/EMV.py

@@ -9,7 +9,7 @@ PORT = 50000
 # 电磁阀控制报文
 valve_commands = {
     1: {
-        'open': '00000000000601050000FF00',
+        'open': '00000000000601050000FF00',#钢针
         'close': '000000000006010500000000',
     },
     2: {
@@ -46,34 +46,38 @@ def send_command(command):
             return False
 
 # 控制电磁阀打开
-def open(grasp, throw, shake):
+def open(grasp, shake, throw):
     if grasp:
-        print("打开电磁阀 1")  # 抓取
+        print("打开电磁阀 1")  # 钢针关闭
         if send_command(valve_commands[1]['open']):
-            time.sleep(1)  # 等待 1 秒
-    if throw:
-        print("打开电磁阀 2")  # 扔袋
-        if send_command(valve_commands[2]['open']):
-            time.sleep(1)  # 等待 1 秒
+            time.sleep(1)
     if shake:
-        print("打开电磁阀 3")  # 震动
+        print("打开电磁阀 2")  # 震动
+        if send_command(valve_commands[2]['open']):
+            time.sleep(0.05)
+    if throw:
+        print("打开电磁阀 3")  # 扔袋
         if send_command(valve_commands[3]['open']):
-            time.sleep(1)  # 等待 1 秒
+            time.sleep(0.5)
 
 # 控制电磁阀关闭
-def close(grasp, throw, shake):
+def close(grasp, shake, throw):
     if grasp:
-        print("关闭电磁阀 1")
+        print("关闭电磁阀 1")#钢针打开
         if send_command(valve_commands[1]['close']):
-            time.sleep(1)  # 等待 1 秒
-    if throw:
+            time.sleep(1)
+    if shake:
         print("关闭电磁阀 2")
         if send_command(valve_commands[2]['close']):
-            time.sleep(1)  # 等待 1 秒
-    if shake:
+            time.sleep(0.05)
+    if throw:
         print("关闭电磁阀 3")
         if send_command(valve_commands[3]['close']):
-            time.sleep(1)  # 等待 1 秒
+            time.sleep(0.5)
 
 # 关闭电磁阀
-close(True, True, True)  # 参数传True和False
+# open(True, False, False)  # 参数传True和False
+# close(False,False,True)
+# for i in range(10):
+#     open(False,True,True)
+#     close(True,True,True)