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update 新增匀和生产速度生效

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This commit is contained in:
FrankCV2048
2024-12-21 17:02:18 +08:00
parent f2f97f4edf
commit 43c7a3fe20
3 changed files with 32 additions and 8 deletions
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34
CU/Feeding.py
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@ -680,7 +680,7 @@ class Feeding(QObject):
position_instruction.m3 = real_position.U
position_instruction.m4 = real_position.V
position_instruction.m5 = real_position.W
position_instruction.smooth = 4
position_instruction.smooth = self.robotClient.smooth
position_instruction.action = move_type.value
if position_instruction.action == 17:
@ -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.debug_speed, move_type=MoveType.Cure, real_position1=start_pos1.get_position())
self.sendTargPosition(real_position=start_pos.get_position(),speed=self.robotClient.feed_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.debug_speed,move_type=MoveType.AXIS)
self.sendTargPosition(real_position=start_pos.get_position(),speed=self.robotClient.feed_speed,move_type=MoveType.AXIS)
else:
self.sendTargPosition(real_position=start_pos.get_position(),speed=self.robotClient.debug_speed)
self.sendTargPosition(real_position=start_pos.get_position(),speed=self.robotClient.feed_speed)
pass
def next_take(self,reverse=False):
@ -746,9 +746,18 @@ class Feeding(QObject):
if take_pos.lineType == LineType.CureMid.value:
take_pos1 = self.feedConfig.feedLine.get_next_take_position(reverse)
self.feedStatus = FeedStatus(take_pos1.status) if self.feedStatus != FeedStatus.FNone else FeedStatus.FNone
self.sendTargPosition(real_position=take_pos.get_position(), move_type=MoveType.Cure, real_position1=take_pos1.get_position(),speed=self.robotClient.debug_speed)
self.sendTargPosition(real_position=take_pos.get_position(), move_type=MoveType.Cure, real_position1=take_pos1.get_position(),speed=self.robotClient.feed_speed)
elif take_pos.lineType == LineType.WORLD.value:
if self.robotClient.status_model.getAnglePosition().is_error_angel_move(take_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=take_pos.get_position(), speed=self.robotClient.feed_speed,
move_type=MoveType.AXIS)
else:
self.sendTargPosition(real_position=take_pos.get_position(),speed=self.robotClient.debug_speed)
self.sendTargPosition(real_position=take_pos.get_position(),speed=self.robotClient.feed_speed)
pass
def next_Feed(self,reverse=False):
@ -757,9 +766,18 @@ class Feeding(QObject):
if feed_pos.lineType == LineType.CureMid.value:
feed_pos1 = self.feedConfig.feedLine.get_next_feed_position(reverse)
self.feedStatus = FeedStatus(feed_pos1.status) if self.feedStatus != FeedStatus.FNone else FeedStatus.FNone
self.sendTargPosition(real_position=feed_pos.get_position(), move_type=MoveType.Cure, real_position1=feed_pos1.get_position(),speed=self.robotClient.debug_speed)
self.sendTargPosition(real_position=feed_pos.get_position(), move_type=MoveType.Cure, real_position1=feed_pos1.get_position(),speed=self.robotClient.feed_speed)
elif feed_pos.lineType == LineType.WORLD.value:
if self.robotClient.status_model.getAnglePosition().is_error_angel_move(feed_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=feed_pos.get_position(), speed=self.robotClient.feed_speed,
move_type=MoveType.AXIS)
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.feed_speed)
def get_current_position(self,is_reverse=False):
if self.feed_Mid_Status == FeedMidStatus.FMid_Start: