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更新 CU/Feeding.py

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hjw
2025-02-26 14:37:28 +00:00
parent 04b3d671ce
commit ddce5ec9d5
1 changed files with 8 additions and 7 deletions
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15
CU/Feeding.py
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@ -19,7 +19,7 @@ from Model.Position import Real_Position, Detection_Position
from enum import Enum, IntEnum from enum import Enum, IntEnum
from COM.COM_Robot import RobotClient, DetectType from COM.COM_Robot import RobotClient, DetectType
from Model.RobotModel import CMDInstructRequest, MoveType from Model.RobotModel import CMDInstructRequest, MoveType
from Trace.handeye_calibration import getPosition from Trace.handeye_calibration import getxyz
from Util.util_math import get_distance from Util.util_math import get_distance
from Util.util_time import CRisOrFall from Util.util_time import CRisOrFall
from Vision.camera_coordinate_dete import Detection from Vision.camera_coordinate_dete import Detection
@ -133,15 +133,16 @@ class FeedLine:
for i in range(len(self.feeding_to_end)): for i in range(len(self.feeding_to_end)):
if self.feeding_to_end[i].status == FeedStatus.FTake.value: if self.feeding_to_end[i].status == FeedStatus.FTake.value:
if position != None: if position != None:
befor_take_position = Real_Position().init_position(position.X, xyz = getxyz(position.X, position.Y, position.Z, position.a, position.b, position.c)
position.Y, befor_take_position = Real_Position().init_position(xyz[0],
position.Z+dynamic_height, xyz[1],
xyz[2],
position.U, position.U,
position.V, position.V,
position.W) position.W)
after_take_position = Real_Position().init_position(position.X, after_take_position = Real_Position().init_position(xyz[0],
position.Y, xyz[1],
position.Z+dynamic_height, xyz[2],
position.U, position.U,
position.V, position.V,
position.W) position.W)