From 87d23d029f59ceae6aa99cec4bde29c5372d2f2c Mon Sep 17 00:00:00 2001 From: Lizongdi <1210855344@qq.com> Date: Wed, 20 May 2026 16:55:44 +0800 Subject: [PATCH] =?UTF-8?q?=E6=89=A9=E5=B1=95=E5=8F=82=E6=95=B0=E5=8C=BA?= =?UTF-8?q?=E5=88=86=E5=B7=A6=E5=8F=B3=E5=96=B7=E6=BC=86=E8=A7=A3=E5=86=B3?= =?UTF-8?q?=E5=AF=B9=E4=B8=8D=E9=BD=90=E9=97=AE=E9=A2=98?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- kelaifen/Kelaifen_V6.0/Example_0_5.py | 14 ++-- kelaifen/Kelaifen_V6.0/config.json | 72 ++++++++++++++++---- kelaifen/Kelaifen_V6.0/trajectory_program.py | 32 ++++----- 3 files changed, 85 insertions(+), 33 deletions(-) diff --git a/kelaifen/Kelaifen_V6.0/Example_0_5.py b/kelaifen/Kelaifen_V6.0/Example_0_5.py index e81fa07..1ffb2dd 100644 --- a/kelaifen/Kelaifen_V6.0/Example_0_5.py +++ b/kelaifen/Kelaifen_V6.0/Example_0_5.py @@ -157,7 +157,11 @@ if __name__ == "__main__": turn_on_relay_end = selected_relay_config["turn_on_relay_end"] turn_off_relay_start = selected_relay_config["turn_off_relay_start"] turn_off_relay_end = selected_relay_config["turn_off_relay_end"] - + ex_turn_on_relay_start = selected_relay_config["ex_turn_on_relay_start"] + ex_turn_on_relay_end = selected_relay_config["ex_turn_on_relay_end"] + ex_turn_off_relay_start = selected_relay_config["ex_turn_off_relay_start"] + ex_turn_off_relay_end = selected_relay_config["ex_turn_off_relay_end"] + print(f"\n✅ 参数已更新为选中配置：") print(f"program_delay_map: {program_delay_map}") print(f"继电器开启区间：{turn_on_relay_start} ~ {turn_on_relay_end}") @@ -172,7 +176,7 @@ if __name__ == "__main__": # 情况1: 接收到1 if cmd == 1: print("触发情况1: 执行program1") - program_switch[1](sock, turn_on_relay_start, turn_on_relay_end, turn_off_relay_start, turn_off_relay_end) + program_switch[1](sock, turn_on_relay_start, turn_on_relay_end, turn_off_relay_start, turn_off_relay_end, ex_turn_on_relay_start, ex_turn_on_relay_end, ex_turn_off_relay_start, ex_turn_off_relay_end) time.sleep(delay_time_10_13579_30) for i in range(3): @@ -211,7 +215,7 @@ if __name__ == "__main__": running = False time.sleep(0.5) else: - program_switch[current_program](sock, turn_on_relay_start, turn_on_relay_end, turn_off_relay_start, turn_off_relay_end) + program_switch[current_program](sock, turn_on_relay_start, turn_on_relay_end, turn_off_relay_start, turn_off_relay_end, ex_turn_on_relay_start, ex_turn_on_relay_end, ex_turn_off_relay_start, ex_turn_off_relay_end) # print(current_program) # 按程序编号从字典获取延时，精准执行 @@ -244,7 +248,7 @@ if __name__ == "__main__": # 情况3: 接收到5 elif cmd == 5: print("触发情况3: 执行program5") - program_switch[5](sock, turn_on_relay_start, turn_on_relay_end, turn_off_relay_start, turn_off_relay_end) + program_switch[5](sock, turn_on_relay_start, turn_on_relay_end, turn_off_relay_start, turn_off_relay_end, ex_turn_on_relay_start, ex_turn_on_relay_end, ex_turn_off_relay_start, ex_turn_off_relay_end) time.sleep(delay_time_10_13579_30) for i in range(3): @@ -283,7 +287,7 @@ if __name__ == "__main__": running = False time.sleep(0.5) else: - program_switch[current_program](sock, turn_on_relay_start, turn_on_relay_end, turn_off_relay_start, turn_off_relay_end) + program_switch[current_program](sock, turn_on_relay_start, turn_on_relay_end, turn_off_relay_start, turn_off_relay_end, ex_turn_on_relay_start, ex_turn_on_relay_end, ex_turn_off_relay_start, ex_turn_off_relay_end) # 统一字典映射延时 delay = program_delay_map.get(current_program, 0.0) diff --git a/kelaifen/Kelaifen_V6.0/config.json b/kelaifen/Kelaifen_V6.0/config.json index ee145ba..171ebdc 100644 --- a/kelaifen/Kelaifen_V6.0/config.json +++ b/kelaifen/Kelaifen_V6.0/config.json @@ -20,7 +20,11 @@ "turn_on_relay_start": 20, "turn_on_relay_end": 25, "turn_off_relay_start": 135, - "turn_off_relay_end": 140 + "turn_off_relay_end": 140, + "ex_turn_on_relay_start": 20, + "ex_turn_on_relay_end": 25, + "ex_turn_off_relay_start": 135, + "ex_turn_off_relay_end": 140 } }, { @@ -43,7 +47,11 @@ "turn_on_relay_start": 20, "turn_on_relay_end": 25, "turn_off_relay_start": 135, - "turn_off_relay_end": 140 + "turn_off_relay_end": 140, + "ex_turn_on_relay_start": 20, + "ex_turn_on_relay_end": 25, + "ex_turn_off_relay_start": 135, + "ex_turn_off_relay_end": 140 } }, { @@ -66,7 +74,11 @@ "turn_on_relay_start": 20, "turn_on_relay_end": 25, "turn_off_relay_start": 135, - "turn_off_relay_end": 140 + "turn_off_relay_end": 140, + "ex_turn_on_relay_start": 20, + "ex_turn_on_relay_end": 25, + "ex_turn_off_relay_start": 135, + "ex_turn_off_relay_end": 140 } }, { @@ -89,7 +101,11 @@ "turn_on_relay_start": 20, "turn_on_relay_end": 25, "turn_off_relay_start": 135, - "turn_off_relay_end": 140 + "turn_off_relay_end": 140, + "ex_turn_on_relay_start": 20, + "ex_turn_on_relay_end": 25, + "ex_turn_off_relay_start": 135, + "ex_turn_off_relay_end": 140 } }, { @@ -112,7 +128,11 @@ "turn_on_relay_start": 20, "turn_on_relay_end": 25, "turn_off_relay_start": 135, - "turn_off_relay_end": 140 + "turn_off_relay_end": 140, + "ex_turn_on_relay_start": 20, + "ex_turn_on_relay_end": 25, + "ex_turn_off_relay_start": 135, + "ex_turn_off_relay_end": 140 } }, { @@ -135,7 +155,11 @@ "turn_on_relay_start": 20, "turn_on_relay_end": 25, "turn_off_relay_start": 135, - "turn_off_relay_end": 140 + "turn_off_relay_end": 140, + "ex_turn_on_relay_start": 20, + "ex_turn_on_relay_end": 25, + "ex_turn_off_relay_start": 135, + "ex_turn_off_relay_end": 140 } }, { @@ -158,7 +182,11 @@ "turn_on_relay_start": 20, "turn_on_relay_end": 25, "turn_off_relay_start": 135, - "turn_off_relay_end": 140 + "turn_off_relay_end": 140, + "ex_turn_on_relay_start": 20, + "ex_turn_on_relay_end": 25, + "ex_turn_off_relay_start": 135, + "ex_turn_off_relay_end": 140 } }, { @@ -181,7 +209,11 @@ "turn_on_relay_start": 20, "turn_on_relay_end": 25, "turn_off_relay_start": 135, - "turn_off_relay_end": 140 + "turn_off_relay_end": 140, + "ex_turn_on_relay_start": 20, + "ex_turn_on_relay_end": 25, + "ex_turn_off_relay_start": 135, + "ex_turn_off_relay_end": 140 } }, { @@ -204,7 +236,11 @@ "turn_on_relay_start": 20, "turn_on_relay_end": 25, "turn_off_relay_start": 135, - "turn_off_relay_end": 140 + "turn_off_relay_end": 140, + "ex_turn_on_relay_start": 20, + "ex_turn_on_relay_end": 25, + "ex_turn_off_relay_start": 135, + "ex_turn_off_relay_end": 140 } }, { @@ -227,7 +263,11 @@ "turn_on_relay_start": 20, "turn_on_relay_end": 25, "turn_off_relay_start": 135, - "turn_off_relay_end": 140 + "turn_off_relay_end": 140, + "ex_turn_on_relay_start": 20, + "ex_turn_on_relay_end": 25, + "ex_turn_off_relay_start": 135, + "ex_turn_off_relay_end": 140 } }, { @@ -250,7 +290,11 @@ "turn_on_relay_start": 20, "turn_on_relay_end": 25, "turn_off_relay_start": 135, - "turn_off_relay_end": 140 + "turn_off_relay_end": 140, + "ex_turn_on_relay_start": 20, + "ex_turn_on_relay_end": 25, + "ex_turn_off_relay_start": 135, + "ex_turn_off_relay_end": 140 } }, { @@ -273,7 +317,11 @@ "turn_on_relay_start": 20, "turn_on_relay_end": 25, "turn_off_relay_start": 135, - "turn_off_relay_end": 140 + "turn_off_relay_end": 140, + "ex_turn_on_relay_start": 20, + "ex_turn_on_relay_end": 25, + "ex_turn_off_relay_start": 135, + "ex_turn_off_relay_end": 140 } } ] diff --git a/kelaifen/Kelaifen_V6.0/trajectory_program.py b/kelaifen/Kelaifen_V6.0/trajectory_program.py index f7b9b11..6a232d3 100644 --- a/kelaifen/Kelaifen_V6.0/trajectory_program.py +++ b/kelaifen/Kelaifen_V6.0/trajectory_program.py @@ -58,7 +58,7 @@ Interpolation_points = 20 # 第九段程序封装为函数 # 第十二段程序封装为函数 -def program1(sock, turn_on_relay_start, turn_on_relay_end, turn_off_relay_start, turn_off_relay_end): +def program1(sock, turn_on_relay_start, turn_on_relay_end, turn_off_relay_start, turn_off_relay_end, ex_turn_on_relay_start, ex_turn_on_relay_end, ex_turn_off_relay_start, ex_turn_off_relay_end): i = 0 suc, result, id = sendCMD(sock, "tt_clear_servo_joint_buf") turn_off_relay() @@ -113,7 +113,7 @@ def program1(sock, turn_on_relay_start, turn_on_relay_end, turn_off_relay_start, suc, result, id = sendCMD(sock, "tt_clear_servo_joint_buf") print("第一段程序执行完") -def program1_1(sock, turn_on_relay_start, turn_on_relay_end, turn_off_relay_start, turn_off_relay_end): +def program1_1(sock, turn_on_relay_start, turn_on_relay_end, turn_off_relay_start, turn_off_relay_end, ex_turn_on_relay_start, ex_turn_on_relay_end, ex_turn_off_relay_start, ex_turn_off_relay_end): print("第1_1段程序开始执行") i = 0 suc, result, id = sendCMD(sock, "tt_clear_servo_joint_buf") @@ -179,7 +179,7 @@ def program1_1(sock, turn_on_relay_start, turn_on_relay_end, turn_off_relay_star suc, result, id = sendCMD(sock, "tt_clear_servo_joint_buf") print("第1_1段程序执行完") -def program2(sock, turn_on_relay_start, turn_on_relay_end, turn_off_relay_start, turn_off_relay_end): +def program2(sock, turn_on_relay_start, turn_on_relay_end, turn_off_relay_start, turn_off_relay_end, ex_turn_on_relay_start, ex_turn_on_relay_end, ex_turn_off_relay_start, ex_turn_off_relay_end): global increments_x, increments_y, increments_z global Coordinate_compensation global sample_time @@ -237,7 +237,7 @@ def program2(sock, turn_on_relay_start, turn_on_relay_end, turn_off_relay_start, print("第二段程序执行完") -def program3(sock, turn_on_relay_start, turn_on_relay_end, turn_off_relay_start, turn_off_relay_end): +def program3(sock, turn_on_relay_start, turn_on_relay_end, turn_off_relay_start, turn_off_relay_end, ex_turn_on_relay_start, ex_turn_on_relay_end, ex_turn_off_relay_start, ex_turn_off_relay_end): print("第三段程序开始执行") i = 0 suc, result, id = sendCMD(sock, "tt_clear_servo_joint_buf") @@ -291,7 +291,7 @@ def program3(sock, turn_on_relay_start, turn_on_relay_end, turn_off_relay_start, suc, result, id = sendCMD(sock, "tt_clear_servo_joint_buf") print("第三段程序执行完") -def program3_1(sock, turn_on_relay_start, turn_on_relay_end, turn_off_relay_start, turn_off_relay_end): +def program3_1(sock, turn_on_relay_start, turn_on_relay_end, turn_off_relay_start, turn_off_relay_end, ex_turn_on_relay_start, ex_turn_on_relay_end, ex_turn_off_relay_start, ex_turn_off_relay_end): print("第3_1段程序开始执行") i = 0 suc, result, id = sendCMD(sock, "tt_clear_servo_joint_buf") @@ -357,7 +357,7 @@ def program3_1(sock, turn_on_relay_start, turn_on_relay_end, turn_off_relay_star suc, result, id = sendCMD(sock, "tt_clear_servo_joint_buf") print("第3_1段程序执行完") -def program4(sock, turn_on_relay_start, turn_on_relay_end, turn_off_relay_start, turn_off_relay_end): +def program4(sock, turn_on_relay_start, turn_on_relay_end, turn_off_relay_start, turn_off_relay_end, ex_turn_on_relay_start, ex_turn_on_relay_end, ex_turn_off_relay_start, ex_turn_off_relay_end): print("第四段程序开始执行") global increments_x, increments_y, increments_z global Coordinate_compensation @@ -400,10 +400,10 @@ def program4(sock, turn_on_relay_start, turn_on_relay_end, turn_off_relay_start, "lookahead": lookahead_time, "t": sample_time, "smoothness": 1, "response_enable": 0}) send_Point(sock, "tt_put_servo_joint_to_buf", {"targetPose": modified_list}) time.sleep(sleep_time) - if(i >= turn_on_relay_start and i <= turn_on_relay_end): + if(i >= ex_turn_on_relay_start and i <= ex_turn_on_relay_end): turn_on_relay() print("打开喷枪") - if(i >= turn_off_relay_start and i <= turn_off_relay_end): + if(i >= ex_turn_off_relay_start and i <= ex_turn_off_relay_end): turn_off_relay() print("关闭喷枪") i = i + 1 @@ -412,7 +412,7 @@ def program4(sock, turn_on_relay_start, turn_on_relay_end, turn_off_relay_start, print("第四段程序执行完") -def program5(sock, turn_on_relay_start, turn_on_relay_end, turn_off_relay_start, turn_off_relay_end): +def program5(sock, turn_on_relay_start, turn_on_relay_end, turn_off_relay_start, turn_off_relay_end, ex_turn_on_relay_start, ex_turn_on_relay_end, ex_turn_off_relay_start, ex_turn_off_relay_end): print("第五段程序开始执行") i = 0 suc, result, id = sendCMD(sock, "tt_clear_servo_joint_buf") @@ -468,7 +468,7 @@ def program5(sock, turn_on_relay_start, turn_on_relay_end, turn_off_relay_start, suc, result, id = sendCMD(sock, "tt_clear_servo_joint_buf") print("第五段程序执行完") -def program5_1(sock, turn_on_relay_start, turn_on_relay_end, turn_off_relay_start, turn_off_relay_end): +def program5_1(sock, turn_on_relay_start, turn_on_relay_end, turn_off_relay_start, turn_off_relay_end, ex_turn_on_relay_start, ex_turn_on_relay_end, ex_turn_off_relay_start, ex_turn_off_relay_end): print("第5_1段程序开始执行") i = 0 suc, result, id = sendCMD(sock, "tt_clear_servo_joint_buf") @@ -534,7 +534,7 @@ def program5_1(sock, turn_on_relay_start, turn_on_relay_end, turn_off_relay_star suc, result, id = sendCMD(sock, "tt_clear_servo_joint_buf") print("第5_1段程序执行完") -def program6(sock, turn_on_relay_start, turn_on_relay_end, turn_off_relay_start, turn_off_relay_end): +def program6(sock, turn_on_relay_start, turn_on_relay_end, turn_off_relay_start, turn_off_relay_end, ex_turn_on_relay_start, ex_turn_on_relay_end, ex_turn_off_relay_start, ex_turn_off_relay_end): global increments_x, increments_y, increments_z global Coordinate_compensation global sample_time @@ -586,7 +586,7 @@ def program6(sock, turn_on_relay_start, turn_on_relay_end, turn_off_relay_start, print("第六段程序执行完") -def program7(sock, turn_on_relay_start, turn_on_relay_end, turn_off_relay_start, turn_off_relay_end): +def program7(sock, turn_on_relay_start, turn_on_relay_end, turn_off_relay_start, turn_off_relay_end, ex_turn_on_relay_start, ex_turn_on_relay_end, ex_turn_off_relay_start, ex_turn_off_relay_end): i = 0 suc, result, id = sendCMD(sock, "tt_clear_servo_joint_buf") turn_off_relay() @@ -640,7 +640,7 @@ def program7(sock, turn_on_relay_start, turn_on_relay_end, turn_off_relay_start, suc, result, id = sendCMD(sock, "tt_clear_servo_joint_buf") print("第七段程序执行完") -def program7_1(sock, turn_on_relay_start, turn_on_relay_end, turn_off_relay_start, turn_off_relay_end): +def program7_1(sock, turn_on_relay_start, turn_on_relay_end, turn_off_relay_start, turn_off_relay_end, ex_turn_on_relay_start, ex_turn_on_relay_end, ex_turn_off_relay_start, ex_turn_off_relay_end): print("第7_1段程序开始执行") i = 0 suc, result, id = sendCMD(sock, "tt_clear_servo_joint_buf") @@ -704,7 +704,7 @@ def program7_1(sock, turn_on_relay_start, turn_on_relay_end, turn_off_relay_star suc, result, id = sendCMD(sock, "tt_clear_servo_joint_buf") print("第7_1段程序执行完") -def program8(sock, turn_on_relay_start, turn_on_relay_end, turn_off_relay_start, turn_off_relay_end): +def program8(sock, turn_on_relay_start, turn_on_relay_end, turn_off_relay_start, turn_off_relay_end, ex_turn_on_relay_start, ex_turn_on_relay_end, ex_turn_off_relay_start, ex_turn_off_relay_end): global increments_x, increments_y, increments_z global Coordinate_compensation global sample_time @@ -747,10 +747,10 @@ def program8(sock, turn_on_relay_start, turn_on_relay_end, turn_off_relay_start, "lookahead": lookahead_time, "t": sample_time, "smoothness": 1, "response_enable": 0}) send_Point(sock, "tt_put_servo_joint_to_buf", {"targetPose": modified_list}) time.sleep(sleep_time) - if(i >= turn_on_relay_start and i <= turn_on_relay_end): + if(i >= ex_turn_on_relay_start and i <= ex_turn_on_relay_end): turn_on_relay() print("打开喷枪") - if(i >= turn_off_relay_start and i <= turn_off_relay_end): + if(i >= ex_turn_off_relay_start and i <= ex_turn_off_relay_end): turn_off_relay() print("关闭喷枪") i = i + 1