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

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)