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修正震动点不动的bug

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cdeyw
2025-02-19 20:29:17 +08:00
parent 69dcef1710
commit 1e73137f72
2 changed files with 12 additions and 15 deletions
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18
CU/Catch.py
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@ -65,19 +65,19 @@ class Catch:
self.drop_continue.SetReset()
if self.catch_status == CatchStatus.CShake: # 1500
self.shake_Q = not self.shake_Q # 10
# self.robotClient.sendIOControl(self.robotClient.con_ios[2], 1 if self.shake_Q else 0)
self.shake_Q = not self.shake_Q # 10
if not self.shake_continue.Q(True, 600):
if self.shake_Q:
open(0, 0, 1)
else:
close(0, 0, 1)
# else:
# self.shake_continue.SetReset()
# self.catch_status = CatchStatus.COk
# #if Constant.Debug or self.robotClient.check_outputQ(self.robotClient.con_ios[2]):
# # self.robotClient.sendIOControl(self.robotClient.con_ios[2], 0)
# close(0, 0, 1)
# print("震动结束")
else:
self.shake_continue.SetReset()
self.catch_status = CatchStatus.COk
#if Constant.Debug or self.robotClient.check_outputQ(self.robotClient.con_ios[2]):
# self.robotClient.sendIOControl(self.robotClient.con_ios[2], 0)
close(0, 0, 1)
print("震动结束")
if self.catch_status == CatchStatus.COk :
# self.robotClient.sendIOControl(self.robotClient.con_ios[1], 0,emptyList='1')

9
CU/Feeding.py
View File

@ -485,19 +485,16 @@ class Feeding(QObject):
if self.get_current_position().get_position().compare(real_position,is_action=True):
# TODO 震动方案
self.log_signal.emit(logging.INFO, Constant.str_feed_shake)
if self.catch.catch_status == CatchStatus.COk:
self.catch.catch_status = CatchStatus.CNone
self.next_position()
if self.catch.catch_status == CatchStatus.CNone:
self.catch.catch_status = CatchStatus.CShake
return
if self.catch.catch_status == CatchStatus.CShake:
return
if self.feedConfig.feedLine.start_to_take[self.feedConfig.feedLine.feeding2end_pos_index+1].status != FeedStatus.FShake:
self.catch.catch_status = CatchStatus.COk
if self.catch.catch_status == CatchStatus.COk:
self.catch.catch_status = CatchStatus.CNone
self.next_position()
elif self.feedStatus == FeedStatus.FDropBag: