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update 投料回原点，结束抛料

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Gogs
2024-12-18 14:19:40 +08:00
parent 47855cbe9c
commit 1f22d45b75
2 changed files with 13 additions and 13 deletions
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4
CU/Catch.py
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@ -31,8 +31,8 @@ class Catch:
if self.catch_status == CatchStatus.CDrop: if self.catch_status == CatchStatus.CDrop:
self.robotClient.sendIOControl(self.robotClient.con_ios[0],0) self.robotClient.sendIOControl(self.robotClient.con_ios[0],0)
self.robotClient.sendIOControl(self.robotClient.con_ios[1],1) self.robotClient.sendIOControl(self.robotClient.con_ios[1],1)
if Constant.Debug or self.robotClient.check_outputQ(self.robotClient.con_ios[1]) and not self.robotClient.check_outputQ(self.robotClient.con_ios[0]): # if Constant.Debug or self.robotClient.check_outputQ(self.robotClient.con_ios[1]) and not self.robotClient.check_outputQ(self.robotClient.con_ios[0]):
self.catch_status = CatchStatus.COk self.catch_status = CatchStatus.COk
if self.catch_status == CatchStatus.CShake: if self.catch_status == CatchStatus.CShake:
if not self.shake_continue.Q(True, 1500): if not self.shake_continue.Q(True, 1500):
shakeQ = self.shakePulse.Q(True, 50, 50) shakeQ = self.shakePulse.Q(True, 50, 50)

22
CU/Feeding.py
View File

@ -73,14 +73,14 @@ class FeedLine:
def get_current_feed_position(self): def get_current_feed_position(self,is_reverse):
pos = self.feeding_to_end[self.feeding2end_pos_index-1] pos = self.feeding_to_end[ (self.feeding2end_pos_index+1)%len(self.feeding_to_end) if is_reverse else self.feeding2end_pos_index-1]
return pos return pos
def get_current_take_position(self): def get_current_take_position(self,is_reverse):
pos = self.start_to_take[self.start2take_pos_index-1] pos = self.start_to_take[ (self.start2take_pos_index+1)%len(self.start_to_take) if is_reverse else self.start2take_pos_index-1]
return pos return pos
def get_current_start_position(self): def get_current_start_position(self,is_reverse):
pos = self.origin_to_start[self.origin2start_pos_index-1] pos = self.origin_to_start[(self.origin2start_pos_index+1)%len(self.origin_to_start) if is_reverse else self.origin2start_pos_index-1]
return pos return pos
def get_next_feed_position(self,reverse:bool=False): def get_next_feed_position(self,reverse:bool=False):
@ -282,7 +282,7 @@ class Feeding(QObject):
elif self.feedStatus == FeedStatus.FMid: elif self.feedStatus == FeedStatus.FMid:
log.log_message(logging.INFO, Constant.str_feed_mid) log.log_message(logging.INFO, Constant.str_feed_mid)
feed_pos = self.get_current_position() feed_pos = self.get_current_position(self.is_reverse)
if feed_pos.get_position().compare(real_position): if feed_pos.get_position().compare(real_position):
self.next_position(self.is_reverse) self.next_position(self.is_reverse)
@ -717,13 +717,13 @@ class Feeding(QObject):
else: else:
self.sendTargPosition(real_position=feed_pos.get_position(),speed=self.robotClient.debug_speed) self.sendTargPosition(real_position=feed_pos.get_position(),speed=self.robotClient.debug_speed)
def get_current_position(self): def get_current_position(self,is_reverse=False):
if self.feed_Mid_Status == FeedMidStatus.FMid_Start: if self.feed_Mid_Status == FeedMidStatus.FMid_Start:
return self.feedConfig.feedLine.get_current_start_position() return self.feedConfig.feedLine.get_current_start_position(self.is_reverse)
elif self.feed_Mid_Status == FeedMidStatus.FMid_Take: elif self.feed_Mid_Status == FeedMidStatus.FMid_Take:
return self.feedConfig.feedLine.get_current_take_position() return self.feedConfig.feedLine.get_current_take_position(self.is_reverse)
elif self.feed_Mid_Status == FeedMidStatus.FMid_Feed: elif self.feed_Mid_Status == FeedMidStatus.FMid_Feed:
return self.feedConfig.feedLine.get_current_feed_position() return self.feedConfig.feedLine.get_current_feed_position(self.is_reverse)
def next_position(self,reverse=False): def next_position(self,reverse=False):
if self.feed_Mid_Status == FeedMidStatus.FMid_Start: if self.feed_Mid_Status == FeedMidStatus.FMid_Start:
self.next_start(reverse) self.next_start(reverse)