stage_one

vision/test_feed.py

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+import time
+from hardware.relay import RelayController
+from hardware.transmitter import TransmitterController
+from test_feed import start_feeding
+
+def start_feeding():
+    """第一阶段下料：下料斗向模具车下料（低速）"""
+    print("开始下料")
+    # self.relay_controller.control
+    loc_relay=RelayController()
+    loc_mitter=TransmitterController(loc_relay)
+    initial_lower_weight=loc_mitter.read_data(2)
+    initial_upper_weight=loc_mitter.read_data(1)
+    first_finish_weight=0
+    start_time=None
+    # mould_need_weight=4000
+    while True:
+        current_weight = loc_mitter.read_data(2)
+        first_finish_weight=initial_lower_weight-current_weight
+        if current_weight<500:
+            #关5秒
+            if start_time is None or time.time()-start_time>5:
+                start_time=time.time()
+                loc_relay.control_arch_lower_open()
+
+            if current_weight<100:
+                start_time=None
+                loc_relay.control_lower_close()
+                break
+        print(f'------------已下料: {first_finish_weight}kg-------------')
+        time.sleep(1)
+
+    #打开上料斗出砼门，开5就，开三分之一下
+    loc_relay.control_upper_open_sync(5)
+    while True:
+        current_upper_weight = loc_mitter.read_data(1)
+        if current_upper_weight<3500:
+            #关5秒
+            loc_relay.control_upper_close()
+            break
+        time.sleep(1)
+    
+    initial_lower_weight=loc_mitter.read_data(2)
+    while True:
+        current_weight = loc_mitter.read_data(2)
+        first_finish_weight=first_finish_weight+initial_lower_weight-current_weight
+        if current_weight<500:
+            #关5秒
+            if start_time is None or time.time()-start_time>5:
+                start_time=time.time()
+                loc_relay.control_arch_lower_open()
+            if current_weight<100:
+                start_time=None
+                loc_relay.control_lower_close()
+                break
+        print(f'------------已下料: {first_finish_weight}kg-------------')
+        time.sleep(1)
+
+if __name__ == "__main__":
+    start_feeding()
+
+