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update 现场修

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This commit is contained in:
Gogs
2024-12-07 16:16:20 +08:00
parent 65c4db96e0
commit d4fcb79394
4 changed files with 15 additions and 17 deletions
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17
CU/Feeding.py
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@ -6,7 +6,6 @@ from PyQt5.QtWidgets import QMessageBox
import Constant
import Expection
from Model.FeedModel import PositionModel
from Model.Position import Real_Position, Detection_Position
from enum import Enum, IntEnum
from COM.COM_Robot import RobotClient, DetectType
@ -422,7 +421,7 @@ class Feeding:
self.sendTargPosition(real_position=pos_model.get_position(), move_type=MoveType.Cure,
real_position1=pos_model1.get_position())
else:
self.sendTargPosition(real_position=pos_model.get_position())
self.sendTargPosition(real_position=pos_model.get_position(),speed=self.robotClient.reset_speed)
self.reverse_index = self.reverse_index + 1
self.send_emergency_stop()
return True
@ -445,7 +444,7 @@ class Feeding:
log.log_message(logging.INFO, f'{Constant.str_feed_io_control}{IO_bit}，{IO_Status}')
pass
def sendTargPosition(self, real_position, move_type: MoveType = MoveType.WORLD, speed=Constant.speed,real_position1=None):
def sendTargPosition(self, real_position, move_type: MoveType = MoveType.WORLD, speed=5,real_position1=None):
position_instruction = Instruction()
position_instruction.speed = speed
position_instruction.m0 = real_position.X
@ -489,9 +488,9 @@ class Feeding:
self.feedStatus = FeedStatus(start_pos.status) if self.feedStatus != FeedStatus.FNone else FeedStatus.FNone
if start_pos.lineType == LineType.CureMid.value:
start_pos1 = self.feedConfig.feedLine.get_next_start_position(reverse)
self.sendTargPosition(real_position=start_pos.get_position(), move_type=MoveType.Cure, real_position1=start_pos1.get_position())
self.sendTargPosition(real_position=start_pos.get_position(),speed=self.robotClient.feed_speed, move_type=MoveType.Cure, real_position1=start_pos1.get_position())
else:
self.sendTargPosition(real_position=start_pos.get_position())
self.sendTargPosition(real_position=start_pos.get_position(),speed=self.robotClient.feed_speed)
pass
def next_take(self,reverse=False):
@ -499,9 +498,9 @@ class Feeding:
self.feedStatus = FeedStatus(take_pos.status) if self.feedStatus != FeedStatus.FNone else FeedStatus.FNone
if take_pos.lineType == LineType.CureMid.value:
take_pos1 = self.feedConfig.feedLine.get_next_take_position(reverse)
self.sendTargPosition(real_position=take_pos.get_position(), move_type=MoveType.Cure, real_position1=take_pos1.get_position())
self.sendTargPosition(real_position=take_pos.get_position(), move_type=MoveType.Cure, real_position1=take_pos1.get_position(),speed=self.robotClient.feed_speed)
else:
self.sendTargPosition(real_position=take_pos.get_position())
self.sendTargPosition(real_position=take_pos.get_position(),speed=self.robotClient.feed_speed)
pass
def next_Feed(self,reverse=False):
@ -509,9 +508,9 @@ class Feeding:
self.feedStatus = FeedStatus(feed_pos.status) if self.feedStatus != FeedStatus.FNone else FeedStatus.FNone
if feed_pos.lineType == LineType.CureMid.value:
feed_pos1 = self.feedConfig.feedLine.get_next_feed_position(reverse)
self.sendTargPosition(real_position=feed_pos.get_position(), move_type=MoveType.Cure, real_position1=feed_pos1.get_position())
self.sendTargPosition(real_position=feed_pos.get_position(), move_type=MoveType.Cure, real_position1=feed_pos1.get_position(),speed=self.robotClient.feed_speed)
else:
self.sendTargPosition(real_position=feed_pos.get_position())
self.sendTargPosition(real_position=feed_pos.get_position(),speed=self.robotClient.feed_speed)
def get_current_position(self):
if self.feed_Mid_Status == FeedMidStatus.FMid_Start: