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