xiongyi/AutoControlSystem-git
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

✅ update 参数调试

Browse Source
This commit is contained in:
FrankCV2048
2024-09-02 22:56:19 +08:00
parent 0ac8f8e86f
commit 76a9a2e676
8 changed files with 312 additions and 49981 deletions
Download Patch File Download Diff File Expand all files Collapse all files

36
CU/Feeding.py
View File

@ -1,5 +1,8 @@
from Model.Position import Real_Position
from enum import Enum
from COM.COM_Robot import RobotClient
from Model.RobotModel import CMDInstructRequest
class FeedStatus(Enum):
FNone = 0
@ -39,22 +42,28 @@ class Feeding():
def run(self):
# 获取事件坐标
real_position = Real_Position()
real_position.init_position(self.robotClient.status_model.world_n[0],
self.robotClient.status_model.world_n[1],
self.robotClient.status_model.world_n[2],
self.robotClient.status_model.world_n[3],
self.robotClient.status_model.world_n[4],
self.robotClient.status_model.world_n[5],
self.robotClient.status_model.world_n[6]);
# real_position.init_position(self.robotClient.status_model.world_n[0],
# self.robotClient.status_model.world_n[1],
# self.robotClient.status_model.world_n[2],
# self.robotClient.status_model.world_n[3],
# self.robotClient.status_model.world_n[4],
# self.robotClient.status_model.world_n[5],
# self.robotClient.status_model.world_n[6]);
real_position.init_position(0,
0,
0,
0,
0,
0);
if self.feedStatus==FeedStatus.FNone:
pass
elif self.feedStatus==FeedStatus.FStart:
if self.feedConfig.num != 0:
self.feedStatus = FeedStatus.FSafeP
sendTargPosition(self.feedConfig.safe_position)
self.sendTargPosition(self.feedConfig.safe_position)
#print(request_command)
pass
@ -62,7 +71,7 @@ class Feeding():
if self.feedConfig.safe_position.compare(real_position):
self.feedStatus = FeedStatus.FPhoto
sendTargPosition(self.feedConfig.photo_position)
self.sendTargPosition(self.feedConfig.photo_position)
elif self.feedStatus == FeedStatus.FPhoto:
if self.feedConfig.photo_position.compare(real_position):
@ -77,7 +86,7 @@ class Feeding():
elif self.feedStatus == FeedStatus.FSafeF:
if self.feedConfig.safe_position.compare(real_position):
self.feedStatus = FeedStatus.FFeedP
sendTargPosition(self.feedConfig.feed_position)
self.sendTargPosition(self.feedConfig.feed_position)
pass #吸嘴开始
@ -88,10 +97,11 @@ class Feeding():
self.feedStatus=FeedStatus.FNone
else:
self.feedStatus = FeedStatus.FSafeP
sendTargPosition(self.feedConfig.safe_position)
pass
self.sendTargPosition(self.feedConfig.safe_position)
pass
def sendTargPosition(self,real_position):
from Model.RobotModel import Instruction
position_instruction = Instruction()
position_instruction.m0 = self.feedConfig.safe_position.X
position_instruction.m1 = self.feedConfig.safe_position.Y