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This commit is contained in:
FrankCV2048
2024-12-12 21:50:40 +08:00
parent 7a26238219
commit ad90c9f1f6
10 changed files with 354 additions and 230 deletions
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16
CU/Catch.py
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@ -1,5 +1,6 @@
from enum import Enum
import Constant
from COM.COM_Robot import RobotClient
from Util.util_time import CClockPulse, CTon
@ -11,7 +12,7 @@ class CatchStatus(Enum):
CShake = 3
COk = 4
class catch:
class Catch:
def __init__(self, robotClient: RobotClient):
self.robotClient = robotClient
self.catch_status = CatchStatus.CNone
@ -24,26 +25,27 @@ class catch:
if self.catch_status == CatchStatus.CTake:
self.robotClient.sendIOControl(self.robotClient.con_ios[0],1)
if self.robotClient.check_outputQ(self.robotClient.con_ios[0]):
if self.robotClient.check_outputQ(self.robotClient.con_ios[0]) or Constant.Debug:
self.catch_status = CatchStatus.COk
if self.catch_status == CatchStatus.CDrop:
self.robotClient.sendIOControl(self.robotClient.con_ios[0],0)
self.robotClient.sendIOControl(self.robotClient.con_ios[1],1)
if 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]):
self.catch_status = CatchStatus.COk
if self.catch_status == CatchStatus.CShake:
if not self.shake_continue.Q(True, 3000):
shakeQ = self.shakePulse.Q(True, 1000, 1000)
if not self.shake_continue.Q(True, 2000):
shakeQ = self.shakePulse.Q(True, 100, 100)
self.robotClient.sendIOControl(self.robotClient.con_ios[2], shakeQ)
print("正在震动" if shakeQ else "震动结束")
else:
self.shake_continue.SetReset()
self.catch_status = CatchStatus.COk
if self.robotClient.check_outputQ(self.robotClient.con_ios[2]):
if Constant.Debug or self.robotClient.check_outputQ(self.robotClient.con_ios[2]):
self.robotClient.sendIOControl(self.robotClient.con_ios[2], False)
print("震动结束")
if self.catch_status == CatchStatus.COk:
pass