修改钢针到达抓料点位后再收缩和在震动点不走的问题

CU/Feeding.py

@@ -448,8 +448,13 @@ class Feeding(QObject):
                     #self.feedConfig.feedLine.set_take_position(None)
                     # time.sleep(self.robotClient.time_delay_take)
                     self.log_signal.emit(logging.INFO, Constant.str_feed_take_success)
-                    self.next_position()
-                    self.catch.catch_status = CatchStatus.COk
+                    if self.catch.catch_status == CatchStatus.COk:
+                        self.next_position()
+                        self.catch.catch_status = CatchStatus.CNone
+                        return
+                    if self.catch.catch_status == CatchStatus.CTake:
+                        self.catch.catch_status = CatchStatus.COk
+
 
             else:
                 self.log_signal.emit(logging.ERROR, Constant.str_feed_takePhoto_fail)
@@ -483,6 +488,7 @@ class Feeding(QObject):
                 if self.catch.catch_status == CatchStatus.COk:
                     self.catch.catch_status = CatchStatus.CNone
                     self.next_position()
+                    return
                 if self.catch.catch_status == CatchStatus.CNone:
                     self.catch.catch_status = CatchStatus.CShake
                     return