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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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7
main.py
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@ -449,12 +449,12 @@ class MainWindow(QMainWindow, Ui_MainWindow):
float(self.tableWidget_line_positions.item(row_i-1, 5).text()),
float(self.tableWidget_line_positions.item(row_i-1, 6).text()),
)
self.send_position_command(x1=p1.X, x2=p1.Y, x3=p1.Z, x4=p1.X, x5=p1.Y, x6=p1.Z, move_type=MoveType.Cure, speed=self.robotClient.debug_speed, p2=p2)
self.send_position_command(x1=p1.X, x2=p1.Y, x3=p1.Z, x4=p1.U, x5=p1.V, x6=p1.W, move_type=MoveType.Cure, speed=self.robotClient.debug_speed, p2=p2)
return
self.send_position_command(x1=p1.X, x2=p1.Y, x3=p1.Z, x4=p1.X, x5=p1.Y, x6=p1.Z, move_type=MoveType.WORLD,speed=self.robotClient.debug_speed)
self.send_position_command(x1=p1.X, x2=p1.Y, x3=p1.Z, x4=p1.U, x5=p1.V, x6=p1.W, move_type=MoveType.WORLD,speed=self.robotClient.debug_speed)
return
if lineType == 4: # 自由路径
self.send_position_command(x1=p1.X, x2=p1.Y, x3=p1.Z, x4=p1.X, x5=p1.Y, x6=p1.Z,move_type=MoveType.AXIS,speed=self.robotClient.debug_speed)
self.send_position_command(x1=p1.X, x2=p1.Y, x3=p1.Z, x4=p1.U, x5=p1.V, x6=p1.W, move_type=MoveType.AXIS,speed=self.robotClient.debug_speed)
return
def tabel_get_position(self,row_i):
@ -1653,6 +1653,7 @@ class MainWindow(QMainWindow, Ui_MainWindow):
def send_clear_auto_command(self):
clear_command = CMDInstructRequest()
clear_command.emptyList = '1'
request_command = clear_command.toString()
log.log_message(logging.INFO, Constant.str_sys_clearAlarm)
self.robotClient.add_sendQuene(request_command)