58 lines
1.4 KiB
Python
58 lines
1.4 KiB
Python
|
#!/usr/bin/python3
|
|||
|
|
import time
|
|||
|
|
from enum import Enum
|
|||
|
|
|
|||
|
|
# import Constant
|
|||
|
|
# from COM.COM_Robot import RobotClient
|
|||
|
|
# from Util.util_time import CClockPulse, CTon
|
|||
|
|
from .EMV import *
|
|||
|
|
|
|||
|
|
|
|||
|
|
class CatchStatus(Enum):
|
|||
|
|
CNone = 0
|
|||
|
|
CTake = 1 # 抓取
|
|||
|
|
CRelease = 2 # 放开
|
|||
|
|
CDrop = 3
|
|||
|
|
CShake = 4
|
|||
|
|
COk = 5
|
|||
|
|
|
|||
|
|
class CatchTool:
|
|||
|
|
def __init__(self):
|
|||
|
|
self.catch_status = CatchStatus.CNone
|
|||
|
|
|
|||
|
|
# =========================================
|
|||
|
|
# 密胺餐盘
|
|||
|
|
# 电磁阀1 需要在 吸盘吸的时候 关闭
|
|||
|
|
# 电磁阀1 需要在 夹爪工作的时候打开
|
|||
|
|
|
|||
|
|
# 电磁阀2 开 -> 吸盘吸
|
|||
|
|
# 电磁阀2 关 -> 吸盘放开
|
|||
|
|
|
|||
|
|
# 电磁阀3 开-> 打开夹爪
|
|||
|
|
# 电磁阀3 关 -> 闭合夹爪
|
|||
|
|
|
|||
|
|
# =======================================
|
|||
|
|
# 夹爪 抓取
|
|||
|
|
def gripper_grasp(self):
|
|||
|
|
close(0, 0, 1) # 电磁阀3关
|
|||
|
|
open(1, 0, 0) # 电磁阀1开
|
|||
|
|
time.sleep(1) # 间隔1秒
|
|||
|
|
|
|||
|
|
# 夹爪 放开
|
|||
|
|
def gripper_release(self):
|
|||
|
|
open(1, 0, 1) # 电磁阀1开，电磁阀3开
|
|||
|
|
time.sleep(1) # 间隔1秒
|
|||
|
|
|
|||
|
|
# 吸盘 吸取
|
|||
|
|
def suction_pick(self):
|
|||
|
|
close(1, 0, 0) # 电磁阀1关
|
|||
|
|
open(0, 1, 0) # 电磁阀2开
|
|||
|
|
time.sleep(1) # 间隔1秒
|
|||
|
|
|
|||
|
|
# 吸盘 释放(松开)
|
|||
|
|
def suction_release(self):
|
|||
|
|
close(0, 1, 0) # 电磁阀2关
|
|||
|
|
time.sleep(1) # 间隔1秒
|
|||
|
|
|
|||
|
|
# catch_tool = CatchTool()
|
|||
|
|
# catch_tool.gripper_grasp()
|