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【调通打标】开关枪时间可控

master
Lizongdi 2 weeks ago
parent
bf84ba966f
commit
43b9ab2255
3 changed files with 71 additions and 32 deletions
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  1. 5
      kelaifen/Kelaifen_V6.0/Example_0_5.py
  2. 96
      kelaifen/Kelaifen_V6.0/config.json
  3. 2
      kelaifen/Kelaifen_V6.0/trajectory_program.py

5
kelaifen/Kelaifen_V6.0/Example_0_5.py
View File

@ -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}")

96
kelaifen/Kelaifen_V6.0/config.json
View File

@ -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
}
}

2
kelaifen/Kelaifen_V6.0/trajectory_program.py
View File

@ -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

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