59 lines
2.1 KiB
Python
59 lines
2.1 KiB
Python
from enum import Enum
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import Constant
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from COM.COM_Robot import RobotClient
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from Util.util_time import CClockPulse, CTon
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class CatchStatus(Enum):
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CNone = 0
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CTake = 1
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CDrop = 2
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CShake = 3
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COk = 4
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class Catch:
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def __init__(self, robotClient: RobotClient):
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self.robotClient = robotClient
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self.catch_status = CatchStatus.CNone
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self.shake_continue = CTon()
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self.shakePulse = CClockPulse()
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self.shake_count = 5
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def run(self):
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if self.catch_status == CatchStatus.CNone:
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return
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if self.catch_status == CatchStatus.CTake:
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self.robotClient.sendIOControl(self.robotClient.con_ios[0],1)
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if self.robotClient.check_outputQ(self.robotClient.con_ios[0]) or Constant.Debug:
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self.catch_status = CatchStatus.COk
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if self.catch_status == CatchStatus.CDrop:
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self.robotClient.sendIOControl(self.robotClient.con_ios[0],0)
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self.robotClient.sendIOControl(self.robotClient.con_ios[1],1)
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if Constant.Debug or self.robotClient.check_outputQ(self.robotClient.con_ios[1]) and not self.robotClient.check_outputQ(self.robotClient.con_ios[0]):
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self.catch_status = CatchStatus.COk
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if self.catch_status == CatchStatus.CShake:
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if not self.shake_continue.Q(True, 2000):
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shakeQ = self.shakePulse.Q(True, 100, 100)
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self.robotClient.sendIOControl(self.robotClient.con_ios[2], shakeQ)
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print("正在震动" if shakeQ else "震动结束")
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else:
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self.shake_continue.SetReset()
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self.catch_status = CatchStatus.COk
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if Constant.Debug or self.robotClient.check_outputQ(self.robotClient.con_ios[2]):
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self.robotClient.sendIOControl(self.robotClient.con_ios[2], False)
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print("震动结束")
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if self.catch_status == CatchStatus.COk:
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pass
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def take_bag(self):
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return True
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def press_bag(self):
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return True
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def shake_bag(self):
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return True |