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修改钢针到达抓料点位后再收缩和在震动点不走的问题

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This commit is contained in:
cdeyw
2025-02-20 17:48:54 +08:00
parent 1e73137f72
commit 0e69647b11
12 changed files with 3905 additions and 174 deletions
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19
CU/Feeding.py
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@ -322,7 +322,8 @@ class Feeding(QObject):
if feed_pos.get_position().compare(real_position):
self.log_signal.emit(logging.INFO, Constant.str_feed_mid)
self.next_position(self.is_reverse)
if self.feedStatus == FeedStatus.FTake:
self.catch.catch_status=CatchStatus.CTake
elif self.feedStatus == FeedStatus.FPhoto:
@ -444,17 +445,11 @@ class Feeding(QObject):
# self.sendIOControl(self.robotClient.con_ios[2], 1)
self.log_signal.emit(logging.INFO, "到达抓料点位")
if self.catch.catch_status == CatchStatus.CNone :
self.catch.catch_status = CatchStatus.CTake
return
if self.catch.catch_status == CatchStatus.CTake:
return
if self.catch.catch_status == CatchStatus.COk :
self.catch.catch_status = CatchStatus.CNone
#self.feedConfig.feedLine.set_take_position(None)
# time.sleep(self.robotClient.time_delay_take)
self.log_signal.emit(logging.INFO, Constant.str_feed_take_success)
self.next_position()
#self.feedConfig.feedLine.set_take_position(None)
# time.sleep(self.robotClient.time_delay_take)
self.log_signal.emit(logging.INFO, Constant.str_feed_take_success)
self.next_position()
self.catch.catch_status = CatchStatus.COk
else:
self.log_signal.emit(logging.ERROR, Constant.str_feed_takePhoto_fail)