From 8d4d735a3791da35454a7b3a023a8c0c042d2fe8 Mon Sep 17 00:00:00 2001 From: Lizongdi <1210855344@qq.com> Date: Mon, 25 May 2026 13:24:42 +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=E4=B8=A4=E7=BB=84=E5=8F=82=E6=95=B0=E6=AD=A3=E5=B8=B8?= =?UTF-8?q?=E7=94=9F=E6=95=88?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- kelaifen/Kelaifen_V6.0/Example_0_5.py | 2 ++ kelaifen/Kelaifen_V6.0/trajectory_program.py | 16 ++++++++-------- 2 files changed, 10 insertions(+), 8 deletions(-) diff --git a/kelaifen/Kelaifen_V6.0/Example_0_5.py b/kelaifen/Kelaifen_V6.0/Example_0_5.py index 1ffb2dd..0defd1f 100644 --- a/kelaifen/Kelaifen_V6.0/Example_0_5.py +++ b/kelaifen/Kelaifen_V6.0/Example_0_5.py @@ -166,6 +166,8 @@ if __name__ == "__main__": 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}") print(f"继电器关闭区间：{turn_off_relay_start} ~ {turn_off_relay_end}") + print(f"继电器开启区间2：{ex_turn_on_relay_start} ~ {ex_turn_on_relay_end}") + print(f"继电器关闭区间2：{ex_turn_off_relay_start} ~ {ex_turn_off_relay_end}") # 喷漆开始命令接收函数 main_cmd_bytes = read_cmd_from_shared(timeout=1.0) # 解析主指令（帧头后第一字节为指令值） diff --git a/kelaifen/Kelaifen_V6.0/trajectory_program.py b/kelaifen/Kelaifen_V6.0/trajectory_program.py index b403da7..942f2c5 100644 --- a/kelaifen/Kelaifen_V6.0/trajectory_program.py +++ b/kelaifen/Kelaifen_V6.0/trajectory_program.py @@ -227,10 +227,10 @@ def program2(sock, turn_on_relay_start, turn_on_relay_end, turn_off_relay_start, if(i >= turn_on_relay_start and i <= turn_on_relay_end): turn_on_relay() - print("打开喷枪") + print(f"打开喷枪2：{turn_on_relay_start} ~ {turn_on_relay_end}") if(i >= turn_off_relay_start and i <= turn_off_relay_end): turn_off_relay() - print("关闭喷枪") + print(f"关闭喷枪2：{turn_off_relay_start} ~ {turn_off_relay_end}") i = i + 1 suc, result, id = sendCMD(sock, "tt_clear_servo_joint_buf") @@ -402,10 +402,10 @@ def program4(sock, turn_on_relay_start, turn_on_relay_end, turn_off_relay_start, time.sleep(sleep_time) if(i >= ex_turn_on_relay_start and i <= ex_turn_on_relay_end): turn_on_relay() - print("打开喷枪") + print(f"打开喷枪4：{ex_turn_on_relay_start} ~ {ex_turn_on_relay_end}") if(i >= ex_turn_off_relay_start and i <= ex_turn_off_relay_end): turn_off_relay() - print("关闭喷枪") + print(f"关闭喷枪4：{ex_turn_off_relay_start} ~ {ex_turn_off_relay_end}") i = i + 1 suc, result, id = sendCMD(sock, "tt_clear_servo_joint_buf") @@ -577,10 +577,10 @@ def program6(sock, turn_on_relay_start, turn_on_relay_end, turn_off_relay_start, time.sleep(sleep_time) if(i >= turn_on_relay_start and i <= turn_on_relay_end): turn_on_relay() - print("打开喷枪") + print(f"打开喷枪6：{turn_on_relay_start} ~ {turn_on_relay_end}") if(i >= turn_off_relay_start and i <= turn_off_relay_end): turn_off_relay() - print("关闭喷枪") + print(f"关闭喷枪6：{turn_off_relay_start} ~ {turn_off_relay_end}") i = i + 1 suc, result, id = sendCMD(sock, "tt_clear_servo_joint_buf") print("第六段程序执行完") @@ -749,10 +749,10 @@ def program8(sock, turn_on_relay_start, turn_on_relay_end, turn_off_relay_start, time.sleep(sleep_time) if(i >= ex_turn_on_relay_start and i <= ex_turn_on_relay_end): turn_on_relay() - print("打开喷枪") + print(f"打开喷枪8：{ex_turn_on_relay_start} ~ {ex_turn_on_relay_end}") if(i >= ex_turn_off_relay_start and i <= ex_turn_off_relay_end): turn_off_relay() - print("关闭喷枪") + print(f"关闭喷枪8：{ex_turn_off_relay_start} ~ {ex_turn_off_relay_end}") i = i + 1 suc, result, id = sendCMD(sock, "tt_clear_servo_joint_buf")