update 更新命令发送错误，自由路径配置失误，图片显示实物

CU/Catch.py

@@ -36,13 +36,13 @@ class Catch:
         if self.catch_status == CatchStatus.CShake:
             if not self.shake_continue.Q(True, 2000):
                 shakeQ = self.shakePulse.Q(True, 100, 100)
-                self.robotClient.sendIOControl(self.robotClient.con_ios[2], shakeQ)
+                self.robotClient.sendIOControl(self.robotClient.con_ios[2], 1 if shakeQ else 0)
                 print("正在震动" if shakeQ else "震动结束")
             else:
                 self.shake_continue.SetReset()
                 self.catch_status = CatchStatus.COk
                 if Constant.Debug or self.robotClient.check_outputQ(self.robotClient.con_ios[2]):
-                    self.robotClient.sendIOControl(self.robotClient.con_ios[2], False)
+                    self.robotClient.sendIOControl(self.robotClient.con_ios[2], 0)
                     print("震动结束")
 
         if self.catch_status == CatchStatus.COk:

CU/Feeding.py

@@ -180,7 +180,7 @@ class Feeding(QObject):
         self.reset_status = ResetStatus.RNone
         self.reversed_positions = []
         self.current_position = None
-
+        self.index=1
         self.pos_index = -1
         self.pos_near_index = -1
         self.catch = Catch(self.robotClient)
@@ -206,6 +206,12 @@ class Feeding(QObject):
         #                             0,
         #                             0);
 
+        img_path = f'Image/{self.index}.png'
+        img = cv2.imread(img_path)
+        self.index += 1
+        self.index = self.index % 4
+        self.detection_image = img
+
         if self.feedConfig == None:
             self.feedStatus = FeedStatus.FNone
 
@@ -655,7 +661,7 @@ class Feeding(QObject):
                 self.feedStatus = None
                 log.log_message(logging.ERROR, Constant.str_feed_angle_error)
             else:
-                self.sendTargPosition(real_position=start_pos.get_position(),speed=self.robotClient.debug_speed,move_type=MoveType.WORLD)
+                self.sendTargPosition(real_position=start_pos.get_position(),speed=self.robotClient.debug_speed,move_type=MoveType.AXIS)
         else:
             self.sendTargPosition(real_position=start_pos.get_position(),speed=self.robotClient.debug_speed)
         pass