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

修改钢针到达抓料点位后再收缩和在震动点不走的问题

Browse Source
This commit is contained in:
cdeyw
2025-02-27 13:16:55 +08:00
parent d1d0d1a5e5
commit a9cce7ec3a
8 changed files with 2272 additions and 36 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
CU/Catch.py
View File

@ -29,10 +29,6 @@ class Catch:
self.shake_Q = False
def run(self):
if self.catch_status == CatchStatus.CNone:
self.shake_continue.SetReset()
# self.robotClient.sendIOControl(self.robotClient.con_ios[1], 0,emptyList='1')
close(0, 1, 0)
self.is_send_take_command = False
return
if self.catch_status == CatchStatus.CTake:

3
CU/Detect.py
View File

@ -37,8 +37,9 @@ class Detect:
return
target_position, noraml_base = getPosition(*xyz, *uvw, None, points)
position = Real_Position().init_position(*target_position[:3], *noraml_base[:3])
position.Z = position.Z + 200
position.Z = position.Z
self.detect_position = position
self.detect_status = DetectStatus.DOk

15
CU/Feeding.py
View File

@ -19,7 +19,7 @@ from Model.Position import Real_Position, Detection_Position
from enum import Enum, IntEnum
from COM.COM_Robot import RobotClient, DetectType
from Model.RobotModel import CMDInstructRequest, MoveType
from Trace.handeye_calibration import getxyz
from Trace.handeye_calibration import getPosition
from Util.util_math import get_distance
from Util.util_time import CRisOrFall
from Vision.camera_coordinate_dete import Detection
@ -133,16 +133,15 @@ class FeedLine:
for i in range(len(self.feeding_to_end)):
if self.feeding_to_end[i].status == FeedStatus.FTake.value:
if position != None:
xyz = getxyz(position.X, position.Y, position.Z, position.a, position.b, position.c)
befor_take_position = Real_Position().init_position(xyz[0],
xyz[1],
xyz[2],
befor_take_position = Real_Position().init_position(position.X,
position.Y,
position.Z+dynamic_height,
position.U,
position.V,
position.W)
after_take_position = Real_Position().init_position(xyz[0],
xyz[1],
xyz[2],
after_take_position = Real_Position().init_position(position.X,
position.Y,
position.Z+dynamic_height,
position.U,
position.V,
position.W)