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🚑 update 更新抓取和扔料

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This commit is contained in:
FrankCV2048
2025-01-14 23:02:14 +08:00
parent 3e065af6a0
commit ecfd9551e1
9 changed files with 1772 additions and 15181 deletions
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4
COM/COM_Robot.py
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@ -107,12 +107,14 @@ class RobotClient(TCPClient):
def send_emergency_stop(self):
self.sendIOControl(Constant.IO_EmergencyPoint, 0)
def sendIOControl(self, IO_bit, IO_Status: int):#
def sendIOControl(self, IO_bit, IO_Status: int, delay=0,emptyList='0'):#
IO_command = CMDInstructRequest()
IO_command.emptyList = emptyList
io_instruction = Instruction()
io_instruction.IO = True
io_instruction.io_status = IO_Status
io_instruction.delay = delay
io_instruction.point = IO_bit # {"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"1","point":"15","delay":"0"}]}
IO_command.dsID = 'HCRemoteCommand'
IO_command.instructions.append(io_instruction)