From 308ac2229cc9f5a998aa34bde8db5189d3892664 Mon Sep 17 00:00:00 2001 From: cdeyw <827523911@qq.com> Date: Thu, 27 Feb 2025 10:48:42 +0800 Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E6=94=B9=E9=92=A2=E9=92=88=E5=88=B0?= =?UTF-8?q?=E8=BE=BE=E6=8A=93=E6=96=99=E7=82=B9=E4=BD=8D=E5=90=8E=E5=86=8D?= =?UTF-8?q?=E6=94=B6=E7=BC=A9=E5=92=8C=E5=9C=A8=E9=9C=87=E5=8A=A8=E7=82=B9?= =?UTF-8?q?=E4=B8=8D=E8=B5=B0=E7=9A=84=E9=97=AE=E9=A2=98?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- CU/Catch.py | 9 +- CU/Detect.py | 2 +- CU/Feeding.py | 13 +- log/log.log | 1485 +++++++++++++++++++++++++++++++++++++++++++++++++ 4 files changed, 1502 insertions(+), 7 deletions(-) diff --git a/CU/Catch.py b/CU/Catch.py index 6d8c022..8671f36 100644 --- a/CU/Catch.py +++ b/CU/Catch.py @@ -29,6 +29,10 @@ class Catch: self.shake_Q = False def run(self): if self.catch_status == CatchStatus.CNone: + self.shake_continue.SetReset() + # self.robotClient.sendIOControl(self.robotClient.con_ios[1], 0,emptyList='1') + close(0, 1, 0) + self.is_send_take_command = False return if self.catch_status == CatchStatus.CTake: @@ -64,20 +68,21 @@ class Catch: if self.catch_status == CatchStatus.CShake: # 1500 self.shake_Q = not self.shake_Q # 10 - if not self.shake_continue.Q(True, 4000): + if not self.shake_continue.Q(True, 6000): if self.shake_Q: open(0, 1, 0) else: close(0, 1, 0) else: self.shake_continue.SetReset() - self.catch_status = CatchStatus.COk + #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, 1, 0) print("震动结束") if self.catch_status == CatchStatus.COk : + self.shake_continue.SetReset() # self.robotClient.sendIOControl(self.robotClient.con_ios[1], 0,emptyList='1') open(1,0,0) close(0, 1, 0) diff --git a/CU/Detect.py b/CU/Detect.py index 271e7d7..53b47dd 100644 --- a/CU/Detect.py +++ b/CU/Detect.py @@ -38,7 +38,7 @@ class Detect: target_position, noraml_base = getPosition(*xyz, *uvw, None, points) position = Real_Position().init_position(*target_position[:3], *noraml_base[:3]) - position.Z = position.Z + 200 + position.Z = position.Z self.detect_position = position self.detect_status = DetectStatus.DOk diff --git a/CU/Feeding.py b/CU/Feeding.py index f838f85..fc9d30b 100644 --- a/CU/Feeding.py +++ b/CU/Feeding.py @@ -485,18 +485,23 @@ 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) - 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