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update 修复原点bug 修改生产回原点速度 修复设置速度bug

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Add    新增动态高度设置
This commit is contained in:
FrankCV2048
2024-12-22 22:07:52 +08:00
parent 43c7a3fe20
commit 2267575a40
5 changed files with 356 additions and 301 deletions
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12
CU/Feeding.py
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@ -297,7 +297,7 @@ class Feeding(QObject):
elif self.feedStatus == FeedStatus.FStart:
self.log_signal.emit(logging.INFO, Constant.str_feed_start)
if not self.robotClient.origin_position.compare(real_position) and not self.is_reverse:
if not self.robotClient.origin_position.compare(real_position,is_action=True) and not self.is_reverse:
# QMessageBox.information(None, "提示", Constant.str_feed_start_error) # Fuck 引起异常
self.log_signal.emit(logging.ERROR, Constant.str_feed_start_error)
self.need_origin_signal.emit(Constant.str_feed_start_error)
@ -537,7 +537,7 @@ class Feeding(QObject):
self.pos_near_index = -1
self.reversed_positions = []
for index, pos_model in enumerate(self.feedConfig.feedLine.feed_positions):
if pos_model.get_position().compare(real_position):
if pos_model.get_position().compare(real_position,is_action=True):
self.pos_index = index
break
@ -553,7 +553,7 @@ class Feeding(QObject):
else:
return False
else:
self.reversed_positions = self.feedConfig.feedLine.feed_positions[:self.pos_index]
self.reversed_positions = self.feedConfig.feedLine.feed_positions[:self.pos_index+1]
self.reversed_positions = list(reversed(self.reversed_positions))
self.reverse_index = 0
self.send_emergency_sound()
@ -728,15 +728,15 @@ class Feeding(QObject):
if start_pos.lineType == LineType.CureMid.value:
start_pos1 = self.feedConfig.feedLine.get_next_start_position(reverse)
self.feedStatus = FeedStatus(start_pos1.status) if self.feedStatus != FeedStatus.FNone else FeedStatus.FNone
self.sendTargPosition(real_position=start_pos.get_position(),speed=self.robotClient.feed_speed, move_type=MoveType.Cure, real_position1=start_pos1.get_position())
self.sendTargPosition(real_position=start_pos.get_position(),speed=self.robotClient.reset_speed, move_type=MoveType.Cure, real_position1=start_pos1.get_position())
elif start_pos.lineType == LineType.WORLD.value:
if self.robotClient.status_model.getAnglePosition().is_error_angel_move(start_pos.get_position(),self.robotClient.max_angle_interval):
self.feedStatus = None
self.log_signal.emit(logging.ERROR, Constant.str_feed_angle_error)
else:
self.sendTargPosition(real_position=start_pos.get_position(),speed=self.robotClient.feed_speed,move_type=MoveType.AXIS)
self.sendTargPosition(real_position=start_pos.get_position(),speed=self.robotClient.reset_speed,move_type=MoveType.AXIS)
else:
self.sendTargPosition(real_position=start_pos.get_position(),speed=self.robotClient.feed_speed)
self.sendTargPosition(real_position=start_pos.get_position(),speed=self.robotClient.reset_speed)
pass
def next_take(self,reverse=False):