From 43b9ab22559cb55c90ec96af8846daf0ed24deb1 Mon Sep 17 00:00:00 2001 From: Lizongdi <1210855344@qq.com> Date: Wed, 3 Jun 2026 10:25:37 +0800 Subject: [PATCH] =?UTF-8?q?=E3=80=90=E8=B0=83=E9=80=9A=E6=89=93=E6=A0=87?= =?UTF-8?q?=E3=80=91=E5=BC=80=E5=85=B3=E6=9E=AA=E6=97=B6=E9=97=B4=E5=8F=AF?= =?UTF-8?q?=E6=8E=A7?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- kelaifen/Kelaifen_V6.0/Example_0_5.py | 5 + kelaifen/Kelaifen_V6.0/config.json | 96 ++++++++++++++------ kelaifen/Kelaifen_V6.0/trajectory_program.py | 2 - 3 files changed, 71 insertions(+), 32 deletions(-) diff --git a/kelaifen/Kelaifen_V6.0/Example_0_5.py b/kelaifen/Kelaifen_V6.0/Example_0_5.py index 7d1c2ad..8fb1a54 100644 --- a/kelaifen/Kelaifen_V6.0/Example_0_5.py +++ b/kelaifen/Kelaifen_V6.0/Example_0_5.py @@ -158,6 +158,11 @@ if __name__ == "__main__": ex_turn_on_relay_start = selected_relay_config["ex_turn_on_relay_start"] ex_turn_off_relay_start = selected_relay_config["ex_turn_off_relay_start"] + if turn_off_relay_start >= 155: + turn_off_relay_start = 154 + if ex_turn_off_relay_start >= 155: + ex_turn_off_relay_start = 154 + print(f"\n✅ 参数已更新为选中配置：") print(f"program_delay_map: {program_delay_map}") print(f"轨迹1开枪时间：{turn_on_relay_start} ~ {turn_off_relay_start}") diff --git a/kelaifen/Kelaifen_V6.0/config.json b/kelaifen/Kelaifen_V6.0/config.json index eff7e15..d46facf 100644 --- a/kelaifen/Kelaifen_V6.0/config.json +++ b/kelaifen/Kelaifen_V6.0/config.json @@ -1,30 +1,36 @@ { "PRESET_PARAMS": [ { - "params": [30, -150], + "params": [ + 50, + 0 + ], "program_delay_map": { "1": 1.0, "100": 0.1, - "2": 0.1, + "2": 0, "3": 1.0, "300": 0.1, "4": 0.1, "5": 1.0, "500": 0.1, - "6": 10, + "6": 0, "7": 1.0, "700": 0.1, - "8": 0.2 + "8": 0 }, "relay_config": { - "turn_on_relay_start": 0, - "turn_off_relay_start": 134, - "ex_turn_on_relay_start": 0, - "ex_turn_off_relay_start": 134 + "turn_on_relay_start": 40, + "turn_off_relay_start": 114, + "ex_turn_on_relay_start": 40, + "ex_turn_off_relay_start": 114 } }, { - "params": [30, -150], + "params": [ + 30, + -150 + ], "program_delay_map": { "1": 1.0, "100": 0.1, @@ -42,12 +48,15 @@ "relay_config": { "turn_on_relay_start": 0, "turn_off_relay_start": 134, - "ex_turn_on_relay_start": 0, + "ex_turn_on_relay_start": 0, "ex_turn_off_relay_start": 134 } }, { - "params": [30, -150], + "params": [ + 30, + -150 + ], "program_delay_map": { "1": 1.0, "100": 0.1, @@ -65,12 +74,15 @@ "relay_config": { "turn_on_relay_start": 0, "turn_off_relay_start": 134, - "ex_turn_on_relay_start": 0, + "ex_turn_on_relay_start": 0, "ex_turn_off_relay_start": 134 } }, { - "params": [30, -150], + "params": [ + 30, + -150 + ], "program_delay_map": { "1": 1.0, "100": 0.1, @@ -88,12 +100,15 @@ "relay_config": { "turn_on_relay_start": 0, "turn_off_relay_start": 134, - "ex_turn_on_relay_start": 0, + "ex_turn_on_relay_start": 0, "ex_turn_off_relay_start": 134 } }, { - "params": [30, -150], + "params": [ + 30, + -150 + ], "program_delay_map": { "1": 1.0, "100": 0.1, @@ -111,12 +126,15 @@ "relay_config": { "turn_on_relay_start": 0, "turn_off_relay_start": 134, - "ex_turn_on_relay_start": 0, + "ex_turn_on_relay_start": 0, "ex_turn_off_relay_start": 134 } }, { - "params": [30, -150], + "params": [ + 30, + -150 + ], "program_delay_map": { "1": 1.0, "100": 0.1, @@ -134,12 +152,15 @@ "relay_config": { "turn_on_relay_start": 0, "turn_off_relay_start": 134, - "ex_turn_on_relay_start": 0, + "ex_turn_on_relay_start": 0, "ex_turn_off_relay_start": 134 } }, { - "params": [30, -150], + "params": [ + 30, + -150 + ], "program_delay_map": { "1": 1.0, "100": 0.1, @@ -157,12 +178,15 @@ "relay_config": { "turn_on_relay_start": 0, "turn_off_relay_start": 134, - "ex_turn_on_relay_start": 0, + "ex_turn_on_relay_start": 0, "ex_turn_off_relay_start": 134 } }, { - "params": [30, -150], + "params": [ + 30, + -150 + ], "program_delay_map": { "1": 1.0, "100": 0.1, @@ -180,12 +204,15 @@ "relay_config": { "turn_on_relay_start": 0, "turn_off_relay_start": 134, - "ex_turn_on_relay_start": 0, + "ex_turn_on_relay_start": 0, "ex_turn_off_relay_start": 134 } }, { - "params": [30, -150], + "params": [ + 30, + -150 + ], "program_delay_map": { "1": 1.0, "100": 0.1, @@ -203,12 +230,15 @@ "relay_config": { "turn_on_relay_start": 0, "turn_off_relay_start": 134, - "ex_turn_on_relay_start": 0, + "ex_turn_on_relay_start": 0, "ex_turn_off_relay_start": 134 } }, { - "params": [30, -150], + "params": [ + 30, + -150 + ], "program_delay_map": { "1": 1.0, "100": 0.1, @@ -226,12 +256,15 @@ "relay_config": { "turn_on_relay_start": 0, "turn_off_relay_start": 134, - "ex_turn_on_relay_start": 0, + "ex_turn_on_relay_start": 0, "ex_turn_off_relay_start": 134 } }, { - "params": [30, -150], + "params": [ + 30, + -150 + ], "program_delay_map": { "1": 1.0, "100": 0.1, @@ -249,12 +282,15 @@ "relay_config": { "turn_on_relay_start": 0, "turn_off_relay_start": 134, - "ex_turn_on_relay_start": 0, + "ex_turn_on_relay_start": 0, "ex_turn_off_relay_start": 134 } }, { - "params": [30, -150], + "params": [ + 30, + -150 + ], "program_delay_map": { "1": 1.0, "100": 0.1, @@ -272,7 +308,7 @@ "relay_config": { "turn_on_relay_start": 0, "turn_off_relay_start": 134, - "ex_turn_on_relay_start": 0, + "ex_turn_on_relay_start": 0, "ex_turn_off_relay_start": 134 } } diff --git a/kelaifen/Kelaifen_V6.0/trajectory_program.py b/kelaifen/Kelaifen_V6.0/trajectory_program.py index 25d9bf1..547a071 100644 --- a/kelaifen/Kelaifen_V6.0/trajectory_program.py +++ b/kelaifen/Kelaifen_V6.0/trajectory_program.py @@ -1040,7 +1040,6 @@ def program100(sock, ser, turn_on_relay_start, turn_off_relay_start, ex_turn_on_ # 第2道开枪时间在第15个点位（Pose_4_M的开枪点位 lookahead_time/sample_time+15），，关枪时间在第150点位示例（lookahead_time/sample_time+135，，，，如果数据>155，那么关枪就在Pose_4_3_M中） #队列，延时时间计算 off_set_Time=int(lookahead_time / sample_time) - off_set_Time=0 # 1.喷枪1开关时间计算 OPEN_1=turn_on_relay_start CLOSE_1=turn_off_relay_start @@ -1170,7 +1169,6 @@ def program101(sock, ser, turn_on_relay_start, turn_off_relay_start, ex_turn_on_ # 第2道开枪时间在第15个点位（Pose_4_M的开枪点位 lookahead_time/sample_time+15），，关枪时间在第150点位示例（lookahead_time/sample_time+135，，，，如果数据>155，那么关枪就在Pose_4_3_M中） #队列，延时时间计算 off_set_Time=int(lookahead_time / sample_time) - off_set_Time=0 # 1.喷枪1开关时间计算 OPEN_1=turn_on_relay_start CLOSE_1=turn_off_relay_start