From bf84ba966fb7d4624fb411b8b9e26dc5d1fefac3 Mon Sep 17 00:00:00 2001
From: Lizongdi <1210855344@qq.com>
Date: Tue, 2 Jun 2026 16:20:04 +0800
Subject: [PATCH] =?UTF-8?q?=E3=80=90=E8=B0=83=E9=80=9A=E6=89=93=E6=A0=87?=
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---
 kelaifen/Kelaifen_V6.0/trajectory_program.py | 8 +++++---
 1 file changed, 5 insertions(+), 3 deletions(-)

diff --git a/kelaifen/Kelaifen_V6.0/trajectory_program.py b/kelaifen/Kelaifen_V6.0/trajectory_program.py
index 16244f5..25d9bf1 100644
--- a/kelaifen/Kelaifen_V6.0/trajectory_program.py
+++ b/kelaifen/Kelaifen_V6.0/trajectory_program.py
@@ -982,7 +982,7 @@ def program12(sock):
 
 def program100(sock, ser, turn_on_relay_start, turn_off_relay_start, ex_turn_on_relay_start, ex_turn_off_relay_start, delay):
     global sample_time, lookahead_time
-    lookahead_time = 300      # 前瞻时间 (ms)
+    lookahead_time = 400      # 前瞻时间 (ms)
 
     sample_time = (int)(SAMP_TIME*velocity_coefficient/serial_handler.speed_adjustment)
     sleep_time = sample_time*0.001
@@ -1055,7 +1055,7 @@ def program100(sock, ser, turn_on_relay_start, turn_off_relay_start, ex_turn_on_
     CLOSE_2_M2E = off_set_Time + CLOSE_2- 155
 
     sendCMD(sock, "transparent_transmission_init", {"lookahead": lookahead_time,"t": sample_time,"smoothness": 1,"response_enable": 0 })
-    cycles = 20  # 循环5次
+    cycles = 100  # 循环5次
 
     for _ in range(cycles):
         for traj in trajectories:
@@ -1110,7 +1110,7 @@ def program100(sock, ser, turn_on_relay_start, turn_off_relay_start, ex_turn_on_
 
 def program101(sock, ser, turn_on_relay_start, turn_off_relay_start, ex_turn_on_relay_start, ex_turn_off_relay_start, delay):
     global sample_time, lookahead_time
-    lookahead_time = 300      # 前瞻时间 (ms)
+    lookahead_time = 400      # 前瞻时间 (ms)
 
     sample_time = (int)(SAMP_TIME*velocity_coefficient/serial_handler.speed_adjustment)
     sleep_time = sample_time*0.001
@@ -1118,6 +1118,8 @@ def program101(sock, ser, turn_on_relay_start, turn_off_relay_start, ex_turn_on_
     #0.点位平移操作
     # 1.假设 Off_Set_Value 已由外部传入（示例值）
     Off_Set_Value = serial_handler.Trajectory_angle  # 示例值，实际由外部传入
+    # 这里的喷涂方向与program100相反
+    Off_Set_Value = -Off_Set_Value
     # 2.深拷贝原始轨迹（避免修改原数据）
     Pose_3_M = copy.deepcopy(Pose_1)
     Pose_4_M = copy.deepcopy(Pose_2)