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

update 流程调试

Browse Source
This commit is contained in:
hjw
2024-09-04 20:29:08 +08:00
parent e1b7784b9a
commit d9bf3f5b27
7 changed files with 57 additions and 37 deletions
Download Patch File Download Diff File Expand all files Collapse all files

24
CU/Feeding.py
View File

@ -64,7 +64,7 @@ class Feeding():
if self.feedConfig.num != 0:
self.feedStatus = FeedStatus.FSafeP
self.sendTargPosition(self.feedConfig.safe_position)
self.sendTargPosition(self.feedConfig.feedLine.safe_position)
#print(request_command)
pass
@ -72,7 +72,7 @@ class Feeding():
if self.feedConfig.safe_position.compare(real_position):
self.feedStatus = FeedStatus.FPhoto
self.sendTargPosition(self.feedConfig.photo_position)
self.sendTargPosition(self.feedConfig.feedLine.photo_position)
elif self.feedStatus == FeedStatus.FPhoto:
if self.feedConfig.photo_position.compare(real_position):
@ -103,7 +103,7 @@ class Feeding():
elif self.feedStatus == FeedStatus.FSafeF:
if self.feedConfig.safe_position.compare(real_position):
self.feedStatus = FeedStatus.FFeedP
self.sendTargPosition(self.feedConfig.feed_position)
self.sendTargPosition(self.feedConfig.feedLine.feed_position)
pass #吸嘴开始
@ -120,15 +120,17 @@ class Feeding():
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
position_instruction.m2 = self.feedConfig.safe_position.Z
position_instruction.m3 = self.feedConfig.safe_position.U
position_instruction.m4 = self.feedConfig.safe_position.V
position_instruction.m5 = self.feedConfig.safe_position.W
position_instruction.m0 = real_position.X
position_instruction.m1 = real_position.Y
position_instruction.m2 = real_position.Z
position_instruction.m3 = real_position.U
position_instruction.m4 = real_position.V
position_instruction.m5 = real_position.W
instruction_command = CMDInstructRequest()
instruction_command.instructions.append(vars(position_instruction))
request_command = vars(instruction_command)
instruction_command.instructions.append(position_instruction)
request_command = instruction_command.toString()
self.robotClient.add_sendQuene(request_command)
pass