🚑 update 加入网络继电器控制震动时同时运动

2025-02-15 22:50:49 +08:00
parent 5f00ea6297
commit 6f0bbae288
3 changed files with 39 additions and 18 deletions
--- a/CU/EMV.py
+++ b/CU/EMV.py
@ -0,0 +1,63 @@
+import socket
+import binascii
+
+# 网络继电器的 IP 和端口
+HOST = '192.168.20.18'
+PORT = 50000
+
+
+valve_commands = {
+    1: {
+        'open': '00000000000601050000FF00',
+        'close': '000000000006010500000000',
+    },
+    2: {
+        'open': '00000000000601050001FF00',
+        'close': '000000000006010500010000',
+    },
+    3: {
+        'open': '00000000000601050002FF00',
+        'close': '000000000006010500020000',
+    }
+}
+
+
+# 将十六进制字符串转换为字节数据并发送
+def send_command(command):
+    byte_data = binascii.unhexlify(command)
+
+    # 创建套接字并连接到继电器
+    with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as sock:
+        sock.connect((HOST, PORT))
+        sock.send(byte_data)
+        response = sock.recv(1024)
+        return response
+
+
+# 控制电磁阀打开
+def open(grasp, throw, shake):
+    if grasp:
+        print("打开电磁阀 1")#抓取
+        send_command(valve_commands[1]['open'])
+        #缺少反馈函数 不知道命令是否下发正确   是否需要等待延时
+    if throw:
+        print("打开电磁阀 2")#扔袋
+        send_command(valve_commands[2]['open'])
+    if shake:
+        print("打开电磁阀 3")#震动
+        send_command(valve_commands[3]['open'])
+
+
+# 控制电磁阀关闭
+def close(grasp, throw, shake ):
+    if grasp:
+        print("关闭电磁阀 1")
+        send_command(valve_commands[1]['close'])
+    if throw:
+        print("关闭电磁阀 2")
+        send_command(valve_commands[2]['close'])
+    if shake:
+        print("关闭电磁阀 3")
+        send_command(valve_commands[3]['close'])
+
+# close(True,True,True)#参数传True和False