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Commit 098cd577 authored by ft-Demo's avatar ft-Demo
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commit by robo pro coding

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Robot_3D.blockly
+ 4
− 4
View file @ 098cd577
......@@ -463,7 +463,7 @@
<data>^bEU7VTlNKBl$5$[g~jC</data>
<value name="value">
<block type="math_number" id=";je20,.n3f6lILQo541K">
<field name="NUM">200</field>
<field name="NUM">-200</field>
</block>
</value>
<next>
......@@ -485,7 +485,7 @@
<data>^bEU7VTlNKBl$5$[g~jC</data>
<value name="value">
<block type="math_number" id="_y#RsD;p|?O=C0Rd{taN">
<field name="NUM">-200</field>
<field name="NUM">200</field>
</block>
</value>
<next>
......@@ -529,7 +529,7 @@
<data>^bEU7VTlNKBl$5$[g~jC</data>
<value name="value">
<block type="math_number" id="c!v)k?t8b]I|IKOC{T1i">
<field name="NUM">200</field>
<field name="NUM">-200</field>
</block>
</value>
<next>
......@@ -551,7 +551,7 @@
<data>^bEU7VTlNKBl$5$[g~jC</data>
<value name="value">
<block type="math_number" id="xKe5R^;:}$Zw]dqULI3w">
<field name="NUM">-200</field>
<field name="NUM">200</field>
</block>
</value>
<next>
......
Robot_3D.py
+ 4
− 4
View file @ 098cd577
......@@ -36,16 +36,16 @@ def test_rel():
move1RefRel_TM123(1150, 40, 1250)
print(get_abspos_list())
for count in range(3):
move1RefRel_M3(200)
print(get_abspos_list())
move1RefRel_M3(-200)
print(get_abspos_list())
move1RefRel_M1(-500)
print(get_abspos_list())
move1RefRel_M3(200)
print(get_abspos_list())
move1RefRel_M1(-500)
print(get_abspos_list())
move1RefRel_M3(-200)
print(get_abspos_list())
move1RefRel_M3(200)
print(get_abspos_list())
move1RefRel_M1(500)
print(get_abspos_list())
......
lib/Axes1Ref_M123_3DRobot.blockly
+ 220
− 265
View file @ 098cd577
This diff is collapsed.
lib/Axes1Ref_M123_3DRobot.py
+ 2
− 11
View file @ 098cd577
......@@ -69,14 +69,12 @@ def move1RefRel_M1(value):
TXT_M_M1_encodermotor.set_speed(int(SPEED), Motor.CW)
TXT_M_M1_encodermotor.set_distance(int(math.fabs(value)))
else:
logging.warning('value %d out of bounds %d' , value, ABSLIMIT1)
exit_Axes1Ref2('pos out of bounds {} > {}'.format(abspos1 + value, ABSLIMIT1))
elif value < 0:
if abspos1 + value > 0:
TXT_M_M1_encodermotor.set_speed(int(SPEED), Motor.CCW)
TXT_M_M1_encodermotor.set_distance(int(math.fabs(value)))
else:
logging.warning('value %d out of bounds, Ref' , value)
exit_Axes1Ref2('pos out of bounds {} > {}'.format(abspos1 + value, ABSLIMIT1))
else:
pass
......@@ -89,7 +87,6 @@ def move1RefAbs_M1(value):
global pos1, pos2, pos3, poslist, msg, SPEED, tsdiff1, tsdiff2, tsdiff3, exit_Axes1Ref, ts01, SPEED_REF, ts02, ts03, ref_valid, ABSLIMIT1, abspos1, abspos2, abspos3, ABSLIMIT2, TIMEOUT_S, ABSLIMIT3, OFFSETREF1, OFFSETREF2, OFFSETREF3
logging.debug('value=%d' , value)
if abspos1 == None:
logging.warning('abspos1 is None')
exit_Axes1Ref2('no ref, abspos not valid {}'.format(value))
else:
move1RefRel_M1(value - abspos1)
......@@ -101,7 +98,7 @@ def init_Axes1Ref():
SPEED_REF = 200
ABSLIMIT1 = 1800
ABSLIMIT2 = 100
ABSLIMIT3 = 1300
ABSLIMIT3 = 1200
OFFSETREF1 = 30
OFFSETREF2 = 3
OFFSETREF3 = 30
......@@ -114,7 +111,6 @@ def move1RefAbs_M2(value):
global pos1, pos2, pos3, poslist, msg, SPEED, tsdiff1, tsdiff2, tsdiff3, exit_Axes1Ref, ts01, SPEED_REF, ts02, ts03, ref_valid, ABSLIMIT1, abspos1, abspos2, abspos3, ABSLIMIT2, TIMEOUT_S, ABSLIMIT3, OFFSETREF1, OFFSETREF2, OFFSETREF3
logging.debug('value=%d' , value)
if abspos2 == None:
logging.warning('abspos2 is None')
exit_Axes1Ref2('no ref, abspos not valid {}'.format(value))
else:
move1RefRel_M2(value - abspos2)
......@@ -160,7 +156,6 @@ def move1RefAbs_M3(value):
global pos1, pos2, pos3, poslist, msg, SPEED, tsdiff1, tsdiff2, tsdiff3, exit_Axes1Ref, ts01, SPEED_REF, ts02, ts03, ref_valid, ABSLIMIT1, abspos1, abspos2, abspos3, ABSLIMIT2, TIMEOUT_S, ABSLIMIT3, OFFSETREF1, OFFSETREF2, OFFSETREF3
logging.debug('value=%d' , value)
if abspos3 == None:
logging.warning('abspos3 is None')
exit_Axes1Ref2('no ref, abspos not valid {}'.format(value))
else:
move1RefRel_M3(value - abspos3)
......@@ -186,14 +181,12 @@ def move1RefRel_M2(value):
TXT_M_M2_encodermotor.set_speed(int(SPEED), Motor.CW)
TXT_M_M2_encodermotor.set_distance(int(math.fabs(value)))
else:
logging.warning('value %d out of bounds %d' , value, ABSLIMIT1)
exit_Axes1Ref2('pos out of bounds {} > {}'.format(abspos2 + value, ABSLIMIT2))
elif value < 0:
if abspos2 + value > 0:
TXT_M_M2_encodermotor.set_speed(int(SPEED), Motor.CCW)
TXT_M_M2_encodermotor.set_distance(int(math.fabs(value)))
else:
logging.warning('value %d out of bounds, Ref' , value)
exit_Axes1Ref2('pos out of bounds {} > {}'.format(abspos2 + value, ABSLIMIT2))
else:
pass
......@@ -280,14 +273,12 @@ def move1RefRel_M3(value):
TXT_M_M3_encodermotor.set_speed(int(SPEED), Motor.CW)
TXT_M_M3_encodermotor.set_distance(int(math.fabs(value)))
else:
logging.warning('value %d out of bounds %d' , value, ABSLIMIT1)
exit_Axes1Ref2('pos out of bounds {} > {}'.format(abspos3 + value, ABSLIMIT3))
elif value < 0:
if abspos3 + value > 0:
TXT_M_M3_encodermotor.set_speed(int(SPEED), Motor.CCW)
TXT_M_M3_encodermotor.set_distance(int(math.fabs(value)))
else:
logging.warning('value %d out of bounds, Ref' , value)
exit_Axes1Ref2('pos out of bounds {} > {}'.format(abspos3 + value, ABSLIMIT3))
else:
pass
......@@ -323,8 +314,8 @@ def move1Ref_TM123():
th1.join()
th2.join()
th3.join()
logging.debug('abspos=%d %d %d', abspos1, abspos2, abspos3)
ref_valid = True
logging.debug('abspos=%d %d %d', abspos1, abspos2, abspos3)
def move1RefAbs_SM123_list(poslist):
......
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