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update 调试完成

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hjw
2024-09-11 20:47:06 +08:00
parent 232fab70b4
commit f46f71b176
8 changed files with 49 additions and 41 deletions
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32
CU/Feeding.py
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@ -2,8 +2,8 @@ import Constant
from Model.Position import Real_Position, Detection_Position
from enum import Enum
from COM.COM_Robot import RobotClient
from Model.RobotModel import CMDInstructRequest
#from Vision.camera_coordinate_dete import Detection
from Model.RobotModel import CMDInstructRequest, MoveType
from Vision.camera_coordinate_dete import Detection
class FeedStatus(Enum):
@ -45,19 +45,18 @@ class Feeding():
def run(self):
# 获取事件坐标
real_position = Real_Position()
# real_position.init_position(self.robotClient.status_model.world_n[0],
# self.robotClient.status_model.world_n[1],
# self.robotClient.status_model.world_n[2],
# self.robotClient.status_model.world_n[3],
# self.robotClient.status_model.world_n[4],
# self.robotClient.status_model.world_n[5],
# self.robotClient.status_model.world_n[6]);
real_position.init_position(0,
0,
0,
0,
0,
0);
real_position.init_position(self.robotClient.status_model.world_0,
self.robotClient.status_model.world_1,
self.robotClient.status_model.world_2,
self.robotClient.status_model.world_3,
self.robotClient.status_model.world_4,
self.robotClient.status_model.world_5)
# real_position.init_position(0,
# 0,
# 0,
# 0,
# 0,
# 0);
if self.feedStatus==FeedStatus.FNone:
@ -84,7 +83,7 @@ class Feeding():
from Trace.handeye_calibration import R_matrix,getPosition
rotation = R_matrix(self.robotClient.status_model.world_0,
self.robotClient.status_model.world_1,
self.robotClient.status_model.world_2,
self.robotClient.status_model.world_2-5,
self.robotClient.status_model.world_3,
self.robotClient.status_model.world_4,
self.robotClient.status_model.world_5)
@ -130,6 +129,7 @@ class Feeding():
position_instruction.m3 = real_position.U
position_instruction.m4 = real_position.V
position_instruction.m5 = real_position.W
position_instruction.action = MoveType.WORLD.value
instruction_command = CMDInstructRequest()