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update 新增韵

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This commit is contained in:
FrankCV2048
2024-12-23 20:25:31 +08:00
parent 79eed7fee4
commit f1f9fb9f39
3 changed files with 13 additions and 13 deletions
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10
CU/Feeding.py
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@ -128,19 +128,19 @@ class FeedLine:
if self.feeding_to_end[i].status == FeedStatus.FTake.value:
return self.feeding_to_end[i]
def set_take_position(self,position:Real_Position):
def set_take_position(self,position:Real_Position,dynamic_height=0):
for i in range(len(self.feeding_to_end)):
if self.feeding_to_end[i].status == FeedStatus.FTake.value:
if position != None:
befor_take_position = Real_Position().init_position(position.X,
position.Y,
position.Z,
position.Z+dynamic_height,
position.U,
position.V,
position.W)
after_take_position = Real_Position().init_position(position.X,
position.Y,
position.Z,
position.Z+dynamic_height,
position.U,
position.V,
position.W)
@ -351,7 +351,7 @@ class Feeding(QObject):
if self.detect.detect_position != None:
self.log_signal.emit(logging.INFO, Constant.str_feed_takePhoto_success)
self.feedConfig.feedLine.set_take_position(self.detect.detect_position)
self.feedConfig.feedLine.set_take_position(self.detect.detect_position,dynamic_height=self.robotClient.dynamic_height)
self.update_detect_image.emit(self.detect.detection_image)
self.next_position()
self.detect.detect_status = DetectStatus.DNone
@ -653,7 +653,7 @@ class Feeding(QObject):
self.send_emergency_stop()
return True
def send_emergency_sound(self):
self.sendIOControl(Constant.IO_EmergencyPoint, 2)
self.sendIOControl(Constant.IO_EmergencyPoint, 1)
def send_emergency_stop(self):
self.sendIOControl(Constant.IO_EmergencyPoint, 0)