diff --git a/kelaifen/Kelaifen_V6.0/Pose_7.txt b/kelaifen/Kelaifen_V6.0/Pose_7.txt index 9a98d6d..73c4dca 100644 --- a/kelaifen/Kelaifen_V6.0/Pose_7.txt +++ b/kelaifen/Kelaifen_V6.0/Pose_7.txt @@ -1 +1 @@ -132.209,693.315,699.278,4.182,0.075,-0.740 \ No newline at end of file +427.648,521.159,65.911,1.923,-0.436,-1.059 \ No newline at end of file diff --git a/kelaifen/Kelaifen_V6.0/Pose_8.txt b/kelaifen/Kelaifen_V6.0/Pose_8.txt index d4cd6e0..74be5e0 100644 --- a/kelaifen/Kelaifen_V6.0/Pose_8.txt +++ b/kelaifen/Kelaifen_V6.0/Pose_8.txt @@ -1 +1 @@ -663.317,241.195,699.278,4.182,0.075,2.306 \ No newline at end of file +427.474,521.159,65.911,1.968,0.630,-0.663 \ No newline at end of file diff --git a/kelaifen/Kelaifen_V6.0/config.json b/kelaifen/Kelaifen_V6.0/config.json index 13b6c0a..354161b 100644 --- a/kelaifen/Kelaifen_V6.0/config.json +++ b/kelaifen/Kelaifen_V6.0/config.json @@ -2,26 +2,26 @@ "PRESET_PARAMS": [ { "params": [ - 80, + 100, 0, 0, 0, 0 ], "program_delay_map": { "2": 0, "300": 0, "6": 0, - "700": 1.5 + "700": 0 }, "relay_config": { "turn_on_relay_start": 6, "turn_off_relay_start": 140, - "ex_turn_on_relay_start": 6, - "ex_turn_off_relay_start": 140 + "ex_turn_on_relay_start": 2, + "ex_turn_off_relay_start": 136 } }, { "params": [ - 80, - 0, 0, 0, 0 + 100, + 0, 50, 0, 0 ], "program_delay_map": { "2": 0, @@ -30,16 +30,16 @@ "700": 0 }, "relay_config": { - "turn_on_relay_start": 10, - "turn_off_relay_start": 144, - "ex_turn_on_relay_start": 10, - "ex_turn_off_relay_start": 144 + "turn_on_relay_start": 6, + "turn_off_relay_start": 140, + "ex_turn_on_relay_start": 2, + "ex_turn_off_relay_start": 136 } }, { "params": [ - 80, - 0, 0, 0, 0 + 100, + 0, 100, 0, 0 ], "program_delay_map": { "2": 0, @@ -48,16 +48,16 @@ "700": 0 }, "relay_config": { - "turn_on_relay_start": 10, - "turn_off_relay_start": 144, - "ex_turn_on_relay_start": 10, - "ex_turn_off_relay_start": 144 + "turn_on_relay_start": 6, + "turn_off_relay_start": 140, + "ex_turn_on_relay_start": 2, + "ex_turn_off_relay_start": 136 } }, { "params": [ - 80, - 0, 0, 0, 0 + 100, + 0, 150, 0, 0 ], "program_delay_map": { "2": 0, @@ -66,16 +66,16 @@ "700": 0 }, "relay_config": { - "turn_on_relay_start": 10, - "turn_off_relay_start": 144, - "ex_turn_on_relay_start": 10, - "ex_turn_off_relay_start": 144 + "turn_on_relay_start": 6, + "turn_off_relay_start": 140, + "ex_turn_on_relay_start": 2, + "ex_turn_off_relay_start": 136 } }, { "params": [ - 80, - 0, 0, 0, 0 + 100, + 0, 200, 0, 0 ], "program_delay_map": { "2": 0, @@ -84,16 +84,16 @@ "700": 0 }, "relay_config": { - "turn_on_relay_start": 10, - "turn_off_relay_start": 144, - "ex_turn_on_relay_start": 10, - "ex_turn_off_relay_start": 144 + "turn_on_relay_start": 6, + "turn_off_relay_start": 140, + "ex_turn_on_relay_start": 2, + "ex_turn_off_relay_start": 136 } }, { "params": [ - 80, - 0, 0, 0, 0 + 100, + 0, 250, 0, 0 ], "program_delay_map": { "2": 0, @@ -102,16 +102,16 @@ "700": 0 }, "relay_config": { - "turn_on_relay_start": 10, - "turn_off_relay_start": 144, - "ex_turn_on_relay_start": 10, - "ex_turn_off_relay_start": 144 + "turn_on_relay_start": 6, + "turn_off_relay_start": 140, + "ex_turn_on_relay_start": 2, + "ex_turn_off_relay_start": 136 } }, { "params": [ - 80, - 0, 0, 0, 0 + 100, + 0, 300, 0, 0 ], "program_delay_map": { "2": 0, @@ -120,16 +120,16 @@ "700": 0 }, "relay_config": { - "turn_on_relay_start": 10, - "turn_off_relay_start": 144, - "ex_turn_on_relay_start": 10, - "ex_turn_off_relay_start": 144 + "turn_on_relay_start": 6, + "turn_off_relay_start": 140, + "ex_turn_on_relay_start": 2, + "ex_turn_off_relay_start": 136 } }, { "params": [ - 80, - 0, 0, 0, 0 + 100, + 0, 350, 0, 0 ], "program_delay_map": { "2": 0, @@ -138,16 +138,16 @@ "700": 0 }, "relay_config": { - "turn_on_relay_start": 10, - "turn_off_relay_start": 144, - "ex_turn_on_relay_start": 10, - "ex_turn_off_relay_start": 144 + "turn_on_relay_start": 6, + "turn_off_relay_start": 140, + "ex_turn_on_relay_start": 2, + "ex_turn_off_relay_start": 136 } }, { "params": [ - 80, - 0, 0, 0, 0 + 100, + 0, 400, 0, 0 ], "program_delay_map": { "2": 0, @@ -156,16 +156,16 @@ "700": 0 }, "relay_config": { - "turn_on_relay_start": 10, - "turn_off_relay_start": 144, - "ex_turn_on_relay_start": 10, - "ex_turn_off_relay_start": 144 + "turn_on_relay_start": 6, + "turn_off_relay_start": 140, + "ex_turn_on_relay_start": 2, + "ex_turn_off_relay_start": 136 } }, { "params": [ - 80, - 0, 0, 0, 0 + 100, + 0, 450, 0, 0 ], "program_delay_map": { "2": 0, @@ -174,16 +174,16 @@ "700": 0 }, "relay_config": { - "turn_on_relay_start": 10, - "turn_off_relay_start": 144, - "ex_turn_on_relay_start": 10, - "ex_turn_off_relay_start": 144 + "turn_on_relay_start": 6, + "turn_off_relay_start": 140, + "ex_turn_on_relay_start": 2, + "ex_turn_off_relay_start": 136 } }, { "params": [ - 80, - 0, 0, 0, 0 + 100, + 0, 500, 0, 0 ], "program_delay_map": { "2": 0, @@ -192,28 +192,28 @@ "700": 0 }, "relay_config": { - "turn_on_relay_start": 10, - "turn_off_relay_start": 144, - "ex_turn_on_relay_start": 10, - "ex_turn_off_relay_start": 144 + "turn_on_relay_start": 6, + "turn_off_relay_start": 140, + "ex_turn_on_relay_start": 2, + "ex_turn_off_relay_start": 136 } }, { "params": [ - 80, + 100, 0, 0, 0, 0 ], "program_delay_map": { "2": 0, - "300": 0, + "300": 1.5, "6": 0, - "700": 0 + "700": 1.5 }, "relay_config": { - "turn_on_relay_start": 10, - "turn_off_relay_start": 144, - "ex_turn_on_relay_start": 10, - "ex_turn_off_relay_start": 144 + "turn_on_relay_start": 6, + "turn_off_relay_start": 140, + "ex_turn_on_relay_start": 2, + "ex_turn_off_relay_start": 136 } } ] diff --git a/kelaifen/Kelaifen_V6.0/joint_positions_assembled_7.txt b/kelaifen/Kelaifen_V6.0/joint_positions_assembled_7.txt index 75800e6..4a87db7 100644 --- a/kelaifen/Kelaifen_V6.0/joint_positions_assembled_7.txt +++ b/kelaifen/Kelaifen_V6.0/joint_positions_assembled_7.txt @@ -1 +1 @@ -65.718,-110.716,120.667,-78.282,94.033,2.384 \ No newline at end of file +37.181,-74.220,134.029,-78.008,89.086,26.117 \ No newline at end of file diff --git a/kelaifen/Kelaifen_V6.0/joint_positions_assembled_8.txt b/kelaifen/Kelaifen_V6.0/joint_positions_assembled_8.txt index 4cf6e75..46dc746 100644 --- a/kelaifen/Kelaifen_V6.0/joint_positions_assembled_8.txt +++ b/kelaifen/Kelaifen_V6.0/joint_positions_assembled_8.txt @@ -1 +1 @@ -6.496,-110.716,120.667,-78.282,94.033,2.384 \ No newline at end of file +37.181,-74.220,134.029,-78.008,89.086,-38.649 \ No newline at end of file diff --git a/kelaifen/Kelaifen_V6.0/serial_handler.py b/kelaifen/Kelaifen_V6.0/serial_handler.py index 0eb885e..81bfbcc 100644 --- a/kelaifen/Kelaifen_V6.0/serial_handler.py +++ b/kelaifen/Kelaifen_V6.0/serial_handler.py @@ -132,14 +132,6 @@ def handle_special_commands(PRESET_PARAMS): speed_val = 50 if speed_val > 150: speed_val = 150 - if angle_val > 200: - angle_val = 200 - if angle_val1 > 200: - angle_val1 = 200 - if angle_val2 > 200: - angle_val2 = 200 - if angle_val3 > 200: - angle_val3 = 200 speed_adjustment = speed_val Trajectory_angle = angle_val Trajectory_angle1 = angle_val1 diff --git a/kelaifen/Kelaifen_V6.0/trajectory_program.py b/kelaifen/Kelaifen_V6.0/trajectory_program.py index 6cba2e8..b2e0dab 100644 --- a/kelaifen/Kelaifen_V6.0/trajectory_program.py +++ b/kelaifen/Kelaifen_V6.0/trajectory_program.py @@ -1098,6 +1098,7 @@ def program100(sock, ser, turn_on_relay_start, turn_off_relay_start, ex_turn_on_ # 注意：共 133 行（144-12+1=133），但范围是 12:144 共133个点 Off_Set_Value_1=serial_handler.Trajectory_angle + Comp_value_mm Off_Set_Value_2=serial_handler.Trajectory_angle1 + Comp_value_mm + print(f"Trajectory_angle = {serial_handler.Trajectory_angle}, Trajectory_angle1 = {serial_handler.Trajectory_angle1}") for i in range(11, 144): # i = 11 ~ 143 对应 MATLAB 第12~144行 factor = (i - 11) / 133.0 # MATLAB中 (i-12)/133，i从12开始，对应Python i=11时因子0 @@ -1151,7 +1152,6 @@ def program100(sock, ser, turn_on_relay_start, turn_off_relay_start, ex_turn_on_ OPEN_1_M = off_set_Time+OPEN_1 CLOSE_1_M1S=off_set_Time+CLOSE_1 CLOSE_1_M1E = off_set_Time + CLOSE_1-155 - print(f"OPEN_1_M = {OPEN_1_M}, CLOSE_1_M1S = {CLOSE_1_M1S}, CLOSE_1_M1E = {CLOSE_1_M1E}") #2.喷枪2开关时间计算 OPEN_2=ex_turn_on_relay_start @@ -1159,7 +1159,6 @@ def program100(sock, ser, turn_on_relay_start, turn_off_relay_start, ex_turn_on_ OPEN_2_M = off_set_Time+OPEN_2 CLOSE_2_M2S = off_set_Time+CLOSE_2 CLOSE_2_M2E = off_set_Time + CLOSE_2- 155 - print(f"OPEN_2_M = {OPEN_1_M}, CLOSE_2_M2S = {CLOSE_2_M2S}, CLOSE_2_M2E = {CLOSE_2_M2E}") sendCMD(sock, "transparent_transmission_init", {"lookahead": lookahead_time,"t": sample_time,"smoothness": 1,"response_enable": 0 }) cycles = 500 # 循环5次 @@ -1243,6 +1242,7 @@ def program101(sock, ser, turn_on_relay_start, turn_off_relay_start, ex_turn_on_ # 注意：共 133 行（144-12+1=133），但范围是 12:144 共133个点 Off_Set_Value_1=-(serial_handler.Trajectory_angle2 + Comp_value_mm) Off_Set_Value_2=-(serial_handler.Trajectory_angle3 + Comp_value_mm) + print(f"Trajectory_angle2 = {serial_handler.Trajectory_angle2}, Trajectory_angle3 = {serial_handler.Trajectory_angle3}") for i in range(11, 144): # i = 11 ~ 143 对应 MATLAB 第12~144行 factor = (i - 11) / 133.0 # MATLAB中 (i-12)/133，i从12开始，对应Python i=11时因子0 @@ -1296,14 +1296,12 @@ def program101(sock, ser, turn_on_relay_start, turn_off_relay_start, ex_turn_on_ OPEN_1_M = off_set_Time+OPEN_1 CLOSE_1_M1S=off_set_Time+CLOSE_1 CLOSE_1_M1E = off_set_Time + CLOSE_1-155 - print(f"OPEN_1_M = {OPEN_1_M}, CLOSE_1_M1S = {CLOSE_1_M1S}, CLOSE_1_M1E = {CLOSE_1_M1E}") #2.喷枪2开关时间计算 OPEN_2=ex_turn_on_relay_start CLOSE_2 = ex_turn_off_relay_start OPEN_2_M = off_set_Time+OPEN_2 CLOSE_2_M2S = off_set_Time+CLOSE_2 CLOSE_2_M2E = off_set_Time + CLOSE_2- 155 - print(f"OPEN_2_M = {OPEN_1_M}, CLOSE_2_M2S = {CLOSE_2_M2S}, CLOSE_2_M2E = {CLOSE_2_M2E}") sendCMD(sock, "transparent_transmission_init", {"lookahead": lookahead_time,"t": sample_time,"smoothness": 1,"response_enable": 0 }) cycles = 500 # 循环5次s