LiZongdi
/
Huangjiabao_backup
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

扩展参数区分左右喷漆解决对不齐问题

master
Lizongdi 1 month ago
parent
35abe8b529
commit
87d23d029f
3 changed files with 85 additions and 33 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Unified View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 12
      kelaifen/Kelaifen_V6.0/Example_0_5.py
  2. 72
      kelaifen/Kelaifen_V6.0/config.json
  3. 32
      kelaifen/Kelaifen_V6.0/trajectory_program.py

12
kelaifen/Kelaifen_V6.0/Example_0_5.py
View File

@ -157,6 +157,10 @@ if __name__ == "__main__":
turn_on_relay_end = selected_relay_config["turn_on_relay_end"] 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_start = selected_relay_config["turn_off_relay_start"]
turn_off_relay_end = selected_relay_config["turn_off_relay_end"] 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"\n✅ 参数已更新为选中配置：")
print(f"program_delay_map: {program_delay_map}") print(f"program_delay_map: {program_delay_map}")
@ -172,7 +176,7 @@ if __name__ == "__main__":
# 情况1: 接收到1 # 情况1: 接收到1
if cmd == 1: if cmd == 1:
print("触发情况1: 执行program1") 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) time.sleep(delay_time_10_13579_30)
for i in range(3): for i in range(3):
@ -211,7 +215,7 @@ if __name__ == "__main__":
running = False running = False
time.sleep(0.5) time.sleep(0.5)
else: 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) # print(current_program)
# 按程序编号从字典获取延时，精准执行 # 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 # 情况3: 接收到5
elif cmd == 5: elif cmd == 5:
print("触发情况3: 执行program5") 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) time.sleep(delay_time_10_13579_30)
for i in range(3): for i in range(3):
@ -283,7 +287,7 @@ if __name__ == "__main__":
running = False running = False
time.sleep(0.5) time.sleep(0.5)
else: 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 # 统一字典映射延时
delay = program_delay_map.get(current_program, 0.0) delay = program_delay_map.get(current_program, 0.0)

72
kelaifen/Kelaifen_V6.0/config.json
View File

@ -20,7 +20,11 @@
"turn_on_relay_start": 20, "turn_on_relay_start": 20,
"turn_on_relay_end": 25, "turn_on_relay_end": 25,
"turn_off_relay_start": 135, "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_start": 20,
"turn_on_relay_end": 25, "turn_on_relay_end": 25,
"turn_off_relay_start": 135, "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_start": 20,
"turn_on_relay_end": 25, "turn_on_relay_end": 25,
"turn_off_relay_start": 135, "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_start": 20,
"turn_on_relay_end": 25, "turn_on_relay_end": 25,
"turn_off_relay_start": 135, "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_start": 20,
"turn_on_relay_end": 25, "turn_on_relay_end": 25,
"turn_off_relay_start": 135, "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_start": 20,
"turn_on_relay_end": 25, "turn_on_relay_end": 25,
"turn_off_relay_start": 135, "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_start": 20,
"turn_on_relay_end": 25, "turn_on_relay_end": 25,
"turn_off_relay_start": 135, "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_start": 20,
"turn_on_relay_end": 25, "turn_on_relay_end": 25,
"turn_off_relay_start": 135, "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_start": 20,
"turn_on_relay_end": 25, "turn_on_relay_end": 25,
"turn_off_relay_start": 135, "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_start": 20,
"turn_on_relay_end": 25, "turn_on_relay_end": 25,
"turn_off_relay_start": 135, "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_start": 20,
"turn_on_relay_end": 25, "turn_on_relay_end": 25,
"turn_off_relay_start": 135, "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_start": 20,
"turn_on_relay_end": 25, "turn_on_relay_end": 25,
"turn_off_relay_start": 135, "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
} }
} }
] ]

32
kelaifen/Kelaifen_V6.0/trajectory_program.py
View File

@ -58,7 +58,7 @@ Interpolation_points = 20
# 第九段程序封装为函数 # 第九段程序封装为函数
# 第十二段程序封装为函数 # 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 i = 0
suc, result, id = sendCMD(sock, "tt_clear_servo_joint_buf") suc, result, id = sendCMD(sock, "tt_clear_servo_joint_buf")
turn_off_relay() 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") suc, result, id = sendCMD(sock, "tt_clear_servo_joint_buf")
print("第一段程序执行完") 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") print("第1_1段程序开始执行")
i = 0 i = 0
suc, result, id = sendCMD(sock, "tt_clear_servo_joint_buf") 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") suc, result, id = sendCMD(sock, "tt_clear_servo_joint_buf")
print("第1_1段程序执行完") 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 increments_x, increments_y, increments_z
global Coordinate_compensation global Coordinate_compensation
global sample_time 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") 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") print("第三段程序开始执行")
i = 0 i = 0
suc, result, id = sendCMD(sock, "tt_clear_servo_joint_buf") 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") suc, result, id = sendCMD(sock, "tt_clear_servo_joint_buf")
print("第三段程序执行完") 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") print("第3_1段程序开始执行")
i = 0 i = 0
suc, result, id = sendCMD(sock, "tt_clear_servo_joint_buf") 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") suc, result, id = sendCMD(sock, "tt_clear_servo_joint_buf")
print("第3_1段程序执行完") 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") print("第四段程序开始执行")
global increments_x, increments_y, increments_z global increments_x, increments_y, increments_z
global Coordinate_compensation 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}) "lookahead": lookahead_time, "t": sample_time, "smoothness": 1, "response_enable": 0})
send_Point(sock, "tt_put_servo_joint_to_buf", {"targetPose": modified_list}) send_Point(sock, "tt_put_servo_joint_to_buf", {"targetPose": modified_list})
time.sleep(sleep_time) 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() turn_on_relay()
print("打开喷枪") 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() turn_off_relay()
print("关闭喷枪") print("关闭喷枪")
i = i + 1 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") 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") print("第五段程序开始执行")
i = 0 i = 0
suc, result, id = sendCMD(sock, "tt_clear_servo_joint_buf") 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") suc, result, id = sendCMD(sock, "tt_clear_servo_joint_buf")
print("第五段程序执行完") 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") print("第5_1段程序开始执行")
i = 0 i = 0
suc, result, id = sendCMD(sock, "tt_clear_servo_joint_buf") 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") suc, result, id = sendCMD(sock, "tt_clear_servo_joint_buf")
print("第5_1段程序执行完") 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 increments_x, increments_y, increments_z
global Coordinate_compensation global Coordinate_compensation
global sample_time 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") 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 i = 0
suc, result, id = sendCMD(sock, "tt_clear_servo_joint_buf") suc, result, id = sendCMD(sock, "tt_clear_servo_joint_buf")
turn_off_relay() 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") suc, result, id = sendCMD(sock, "tt_clear_servo_joint_buf")
print("第七段程序执行完") 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") print("第7_1段程序开始执行")
i = 0 i = 0
suc, result, id = sendCMD(sock, "tt_clear_servo_joint_buf") 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") suc, result, id = sendCMD(sock, "tt_clear_servo_joint_buf")
print("第7_1段程序执行完") 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 increments_x, increments_y, increments_z
global Coordinate_compensation global Coordinate_compensation
global sample_time 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}) "lookahead": lookahead_time, "t": sample_time, "smoothness": 1, "response_enable": 0})
send_Point(sock, "tt_put_servo_joint_to_buf", {"targetPose": modified_list}) send_Point(sock, "tt_put_servo_joint_to_buf", {"targetPose": modified_list})
time.sleep(sleep_time) 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() turn_on_relay()
print("打开喷枪") 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() turn_off_relay()
print("关闭喷枪") print("关闭喷枪")
i = i + 1 i = i + 1

Write Preview
Loading…
Cancel
Save