【调通打标】修改前瞻时间和向下喷涂偏移方向

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)