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update 加入并行拍照，加入平滑

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This commit is contained in:
FrankCV2048
2024-12-16 20:58:14 +08:00
parent 2c6539ef51
commit ef34f25020
5 changed files with 81 additions and 23 deletions
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4
CU/Catch.py
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@ -34,8 +34,8 @@ class Catch:
if Constant.Debug or self.robotClient.check_outputQ(self.robotClient.con_ios[1]) and not self.robotClient.check_outputQ(self.robotClient.con_ios[0]):
self.catch_status = CatchStatus.COk
if self.catch_status == CatchStatus.CShake:
if not self.shake_continue.Q(True, 2000):
shakeQ = self.shakePulse.Q(True, 100, 100)
if not self.shake_continue.Q(True, 1500):
shakeQ = self.shakePulse.Q(True, 50, 50)
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: