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update 更新图片处理，点位比较方法，夹爪控制

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This commit is contained in:
FrankCV2048
2024-12-15 12:50:30 +08:00
parent e2b60094b3
commit 45a9b18a96
11 changed files with 188 additions and 182 deletions
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29
Model/Position.py
View File

@ -1,3 +1,5 @@
import math
from Constant import position_accuracy
class Position:
def __init__(self):
@ -7,17 +9,30 @@ class Position:
self.U = 0.0
self.V = 0.0
self.W = 0.0
def compare(self,position):
if self.X-position.X<position_accuracy and \
self.Y-position.Y<position_accuracy and \
self.Z - position.Z < position_accuracy and \
self.U - position.U < position_accuracy and \
self.V - position.V < position_accuracy and \
self.W - position.W < position_accuracy:
distance = math.sqrt((self.X-position.X)**2+
(self.Y-position.Y)**2+
(self.Z - position.Z)**2+
(self.U - position.U)**2+
(self.V - position.V)**2+
(self.W - position.W) ** 2)
if distance<=position_accuracy:
return True
else:
return False
pass
# def compare(self,position):
# if self.X-position.X<position_accuracy and \
# self.Y-position.Y<position_accuracy and \
# self.Z - position.Z < position_accuracy and \
# self.U - position.U < position_accuracy and \
# self.V - position.V < position_accuracy and \
# self.W - position.W < position_accuracy:
# return True
# else:
# return False
# pass
def is_error_angel_move(self,position,interval):
if self.X - position.X >= interval or \

3
Model/RobotModel.py
View File

@ -189,8 +189,7 @@ class CMDInstructRequest:
if len(self.instructions) != 0:
model_str = model_str+',"instructions":'+"[{"+self.instructions[0].toString()+"}]"+"}"
else:
model_str = model_str+',"instructions":'+"[{""}]"+"}" #model_str+"}"
print(model_str)
model_str = model_str+',"instructions":'+"[]"+"}" #model_str+"}"
return model_str
class CMDInstructReply: