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🚑 update 加入网络继电器控制 震动时同时运动

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This commit is contained in:
FrankCV2048
2025-02-15 22:50:49 +08:00
parent 5f00ea6297
commit 6f0bbae288
3 changed files with 39 additions and 18 deletions
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50
CU/Catch.py
View File

@ -4,7 +4,7 @@ from enum import Enum
import Constant import Constant
from COM.COM_Robot import RobotClient from COM.COM_Robot import RobotClient
from Util.util_time import CClockPulse, CTon from Util.util_time import CClockPulse, CTon
from EMV import *
class CatchStatus(Enum): class CatchStatus(Enum):
CNone = 0 CNone = 0
@ -32,7 +32,10 @@ class Catch:
if self.catch_status == CatchStatus.CTake: if self.catch_status == CatchStatus.CTake:
if not self.is_send_take_command: if not self.is_send_take_command:
self.robotClient.sendIOControl(self.robotClient.con_ios[0],1) # 本身IO
##self.robotClient.sendIOControl(self.robotClient.con_ios[0],1)
# 网络继电器
open(1, 0, 0)
self.is_send_take_command = True self.is_send_take_command = True
else: else:
if self.take_continue.Q(True,self.robotClient.time_delay_take*1000): if self.take_continue.Q(True,self.robotClient.time_delay_take*1000):
@ -41,12 +44,19 @@ class Catch:
if self.catch_status == CatchStatus.CDrop: if self.catch_status == CatchStatus.CDrop:
if not self.is_send_command: if not self.is_send_command:
self.robotClient.sendIOControl(self.robotClient.con_ios[0], 0) # 本身IO
# self.robotClient.sendIOControl(self.robotClient.con_ios[0], 0)
# 网络继电器
close(1, 0, 0)
for _ in range(self.drop_count): for _ in range(self.drop_count):
self.robotClient.sendIOControl(self.robotClient.con_ios[1], 1, delay=self.robotClient.time_delay_put) # self.robotClient.sendIOControl(self.robotClient.con_ios[1], 1, delay=self.robotClient.time_delay_put)
self.robotClient.sendIOControl(self.robotClient.con_ios[1], 0) open(0, 1, 0)
time.sleep(self.robotClient.time_delay_put) # 会造成这个时间点 其他命令插入不进去 需要另开线程
close(0, 1, 0)
# self.robotClient.sendIOControl(self.robotClient.con_ios[1], 0)
self.robotClient.sendIOControl(self.robotClient.con_ios[1], 1) # self.robotClient.sendIOControl(self.robotClient.con_ios[1], 1)
open(0, 1, 0)
self.is_send_command = True self.is_send_command = True
if self.drop_continue.Q(True,self.robotClient.time_delay_put*1000*self.drop_count): if self.drop_continue.Q(True,self.robotClient.time_delay_put*1000*self.drop_count):
# if Constant.Debug or self.robotClient.check_outputQ(self.robotClient.con_ios[1]) and not self.robotClient.check_outputQ(self.robotClient.con_ios[0]): # if Constant.Debug or self.robotClient.check_outputQ(self.robotClient.con_ios[1]) and not self.robotClient.check_outputQ(self.robotClient.con_ios[0]):
@ -54,19 +64,25 @@ class Catch:
self.catch_status = CatchStatus.COk self.catch_status = CatchStatus.COk
self.drop_continue.SetReset() self.drop_continue.SetReset()
if self.catch_status == CatchStatus.CShake: if self.catch_status == CatchStatus.CShake: # 1500
if not self.shake_continue.Q(True, 600): # 1500
self.shake_Q = not self.shake_Q # 10 self.shake_Q = not self.shake_Q # 10
self.robotClient.sendIOControl(self.robotClient.con_ios[2], 1 if self.shake_Q else 0) # self.robotClient.sendIOControl(self.robotClient.con_ios[2], 1 if self.shake_Q else 0)
else: if self.shake_Q:
self.shake_continue.SetReset() open(0, 0, 1)
self.catch_status = CatchStatus.COk else:
#if Constant.Debug or self.robotClient.check_outputQ(self.robotClient.con_ios[2]): close(0, 0, 1)
self.robotClient.sendIOControl(self.robotClient.con_ios[2], 0) # else:
print("震动结束") # self.shake_continue.SetReset()
# 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, 0, 1)
# print("震动结束")
if self.catch_status == CatchStatus.COk: if self.catch_status == CatchStatus.COk :
self.robotClient.sendIOControl(self.robotClient.con_ios[1], 0,emptyList='1') # self.robotClient.sendIOControl(self.robotClient.con_ios[1], 0,emptyList='1')
close(0, 1, 0)
close(0, 0, 1)
pass pass

3
EMV.py → CU/EMV.py
View File

@ -39,6 +39,7 @@ def open(grasp, throw, shake):
if grasp: if grasp:
print("打开电磁阀 1")#抓取 print("打开电磁阀 1")#抓取
send_command(valve_commands[1]['open']) 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: if throw:
print("打开电磁阀 2")#扔袋 print("打开电磁阀 2")#扔袋
send_command(valve_commands[2]['open']) send_command(valve_commands[2]['open'])
@ -59,4 +60,4 @@ def close(grasp, throw, shake ):
print("关闭电磁阀 3") print("关闭电磁阀 3")
send_command(valve_commands[3]['close']) send_command(valve_commands[3]['close'])
close(True,True,True)#参数传True和False # close(True,True,True)#参数传True和False

4
CU/Feeding.py
View File

@ -491,6 +491,10 @@ class Feeding(QObject):
return return
if self.catch.catch_status == CatchStatus.CShake: if self.catch.catch_status == CatchStatus.CShake:
return return
if self.feedConfig.feedLine.start_to_take[self.feedConfig.feedLine.feeding2end_pos_index+1].status != FeedStatus.FShake:
self.catch.catch_status = CatchStatus.COk
if self.catch.catch_status == CatchStatus.COk: if self.catch.catch_status == CatchStatus.COk:
self.catch.catch_status = CatchStatus.CNone self.catch.catch_status = CatchStatus.CNone
self.next_position() self.next_position()