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update 更新设置表格

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This commit is contained in:
FrankCV2048
2024-09-04 23:20:47 +08:00
parent d1ad887130
commit 371ee321d4
6 changed files with 1562 additions and 1484 deletions
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15
CU/Feeding.py
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@ -34,7 +34,7 @@ class FeedingConfig:
class Feeding():
def __init__(self,robotClient:RobotClient,detection: Detection):
def __init__(self,robotClient:RobotClient,detection:Detection):
self.feedConfig = None
self.feedStatus = FeedStatus.FNone
self.robotClient = robotClient
@ -69,13 +69,12 @@ class Feeding():
pass
elif self.feedStatus==FeedStatus.FSafeP:
if self.feedConfig.safe_position.compare(real_position):
if self.feedConfig.feedLine.safe_position.compare(real_position):
self.feedStatus = FeedStatus.FPhoto
self.sendTargPosition(self.feedConfig.feedLine.photo_position)
elif self.feedStatus == FeedStatus.FPhoto:
if self.feedConfig.photo_position.compare(real_position):
if self.feedConfig.feedLine.photo_position.compare(real_position):
_, _, xyz, uvw = self.detection.get_position() #检测结果
if xyz!=None:
self.feedStatus = FeedStatus.FTake
@ -90,18 +89,18 @@ class Feeding():
# 黄老师给我的xyz和法向量
target_position, noraml_base = getPosition(*xyz, *uvw,rotation)
self.feedConfig.take_position = Real_Position().init_position(*target_position,*noraml_base)
self.feedConfig.feedLine.take_position = Real_Position().init_position(*target_position,*noraml_base)
else:
print("打印日志，保存失败图像")
pass # 发送拍照获取坐标 并 开始移动
elif self.feedStatus == FeedStatus.FTake:
if self.feedConfig.take_position != None and self.feedConfig.take_position.compare(real_position):
if self.feedConfig.feedLine.take_position != None and self.feedConfig.feedLine.take_position.compare(real_position):
self.feedStatus = FeedStatus.FSafeF
pass #打开吸嘴并返回
elif self.feedStatus == FeedStatus.FSafeF:
if self.feedConfig.safe_position.compare(real_position):
if self.feedConfig.feedLine.safe_position.compare(real_position):
self.feedStatus = FeedStatus.FFeedP
self.sendTargPosition(self.feedConfig.feedLine.feed_position)
pass #吸嘴开始
@ -114,7 +113,7 @@ class Feeding():
self.feedStatus=FeedStatus.FNone
else:
self.feedStatus = FeedStatus.FSafeP
self.sendTargPosition(self.feedConfig.safe_position)
self.sendTargPosition(self.feedConfig.feedLine.safe_position)
pass
def sendTargPosition(self,real_position):