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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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9
main.py
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@ -633,7 +633,8 @@ class MainWindow(QMainWindow, Ui_MainWindow):
time_delay_put = float(self.configReader.get('Robot_Feed', 'putDelay'))
time_delay_shake = float(self.configReader.get('Robot_Feed', 'shakeDelay'))
max_angle_interval = float(self.configReader.get('Robot_Feed', 'max_angle_interval'))
smooth = float(self.configReader.get('Robot_Feed', 'smooth'))
smooth = int(self.configReader.get('Robot_Feed', 'smooth'))
dynamic_height = float(self.configReader.get('Robot_Feed', 'dynamic_height'))
#TODO
#dropDelay_time = int(self.configReader.get('Robot_Feed', 'dropDelay_time'))
self.robotClient = RobotClient(ip, port, photo_locs, self.command_position_quene, self.status_address,[io_take_addr, io_zip_addr, io_shake_addr],time_delay_take,time_delay_put,time_delay_shake,origin_position)
@ -642,6 +643,7 @@ class MainWindow(QMainWindow, Ui_MainWindow):
self.robotClient.reset_speed = reset_speed
self.robotClient.max_angle_interval = max_angle_interval
self.robotClient.smooth = smooth
self.robotClient.dynamic_height = dynamic_height
self.feeding = Feeding(self.robotClient) # 临时
self.feeding.need_origin_signal.connect(self.show_infomessage_box)
self.feeding.take_no_photo_sigal.connect(self.show_no_photo_message_box)
@ -1032,6 +1034,7 @@ class MainWindow(QMainWindow, Ui_MainWindow):
self.robotClient.debug_speed = int(self.lineEdit_speed_debug.text())
self.robotClient.reset_speed = int(self.lineEdit_speed_reset.text())
self.robotClient.smooth = int(self.lineEdit_setting_smooth.text())
self.robotClient.dynamic_height = float(self.lineEdit_setting_height.text())
try:
take_addr = int(self.lineEdit_take_addr.text())
press_addr = int(self.lineEdit_press_addr.text())
@ -1057,6 +1060,7 @@ class MainWindow(QMainWindow, Ui_MainWindow):
self.configReader.set('Speed', 'debug_speed', str(self.robotClient.debug_speed))
self.configReader.set('Speed', 'reset_speed', str(self.robotClient.reset_speed))
self.configReader.set('Robot_Feed', 'smooth', str(self.robotClient.smooth))
self.configReader.set('Robot_Feed', 'dynamic_height', str(self.robotClient.dynamic_height))
self.configReader.write(open(Constant.set_ini, 'w', encoding='utf-8'))
except Exception as e:
log.log_message(logging.ERROR, Constant.str_sys_set_error+e)
@ -1158,6 +1162,7 @@ class MainWindow(QMainWindow, Ui_MainWindow):
def send_stopFeed_button_click(self):
# 清空状态
self.feeding.feedStatus = FeedStatus.FNone
self.feeding.reset_status = ResetStatus.RNone
# 清空运行命令
self.send_clear_auto_command()
self.feeding.feedConfig.num = 0
@ -1208,6 +1213,7 @@ class MainWindow(QMainWindow, Ui_MainWindow):
return_positions = self.feedLine_dict[line_head].positions
position_origin = PositionModel()
position_origin.init_position(self.robotClient.origin_position)
position_origin.status = 1
return_positions.insert(0,position_origin)
if self.feedLine_dict.keys().__contains__(line_head):
self.feeding.feedConfig= FeedingConfig(0, FeedLine(self.feedLine_dict[line_head].id, self.feedLine_dict[line_head].name,
@ -1906,6 +1912,7 @@ class MainWindow(QMainWindow, Ui_MainWindow):
self.lineEdit_timedelay_take.setText(str(self.robotClient.time_delay_take))
self.lineEdit_timedelay_put.setText(str(self.robotClient.time_delay_put))
self.lineEdit_timedelay_shake.setText(str(self.robotClient.time_delay_shake))
self.lineEdit_setting_height.setText(str(self.robotClient.dynamic_height))
def show_infomessage_box(self,message):
print('显示弹窗')