【调通打标】开关枪时间可控

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}")

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,
@@ -47,7 +53,10 @@
             }
         },
         {
-            "params": [30, -150],
+            "params": [
+                30,
+                -150
+            ],
             "program_delay_map": {
                 "1": 1.0,
                 "100": 0.1,
@@ -70,7 +79,10 @@
             }
         },
         {
-            "params": [30, -150],
+            "params": [
+                30,
+                -150
+            ],
             "program_delay_map": {
                 "1": 1.0,
                 "100": 0.1,
@@ -93,7 +105,10 @@
             }
         },
         {
-            "params": [30, -150],
+            "params": [
+                30,
+                -150
+            ],
             "program_delay_map": {
                 "1": 1.0,
                 "100": 0.1,
@@ -116,7 +131,10 @@
             }
         },
         {
-            "params": [30, -150],
+            "params": [
+                30,
+                -150
+            ],
             "program_delay_map": {
                 "1": 1.0,
                 "100": 0.1,
@@ -139,7 +157,10 @@
             }
         },
         {
-            "params": [30, -150],
+            "params": [
+                30,
+                -150
+            ],
             "program_delay_map": {
                 "1": 1.0,
                 "100": 0.1,
@@ -162,7 +183,10 @@
             }
         },
         {
-            "params": [30, -150],
+            "params": [
+                30,
+                -150
+            ],
             "program_delay_map": {
                 "1": 1.0,
                 "100": 0.1,
@@ -185,7 +209,10 @@
             }
         },
         {
-            "params": [30, -150],
+            "params": [
+                30,
+                -150
+            ],
             "program_delay_map": {
                 "1": 1.0,
                 "100": 0.1,
@@ -208,7 +235,10 @@
             }
         },
         {
-            "params": [30, -150],
+            "params": [
+                30,
+                -150
+            ],
             "program_delay_map": {
                 "1": 1.0,
                 "100": 0.1,
@@ -231,7 +261,10 @@
             }
         },
         {
-            "params": [30, -150],
+            "params": [
+                30,
+                -150
+            ],
             "program_delay_map": {
                 "1": 1.0,
                 "100": 0.1,
@@ -254,7 +287,10 @@
             }
         },
         {
-            "params": [30, -150],
+            "params": [
+                30,
+                -150
+            ],
             "program_delay_map": {
                 "1": 1.0,
                 "100": 0.1,

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