From 00f29fac2b704e510d3356ebe86629c6ba663bb4 Mon Sep 17 00:00:00 2001 From: aarizona Date: Tue, 8 Oct 2024 15:37:44 +0300 Subject: [PATCH] hexa --- client.py | 32 +++++++++++++++++--------------- client_socket.py | 21 +++++++++++++-------- data/test.nc.result | 19 +++++++++++++++++++ func.py | 6 ++++-- urdf/sample.urdf | 24 ++++++++++++------------ 5 files changed, 65 insertions(+), 37 deletions(-) create mode 100644 data/test.nc.result diff --git a/client.py b/client.py index 6228587..7462c5b 100644 --- a/client.py +++ b/client.py @@ -8,23 +8,25 @@ import tkinter as tk from func import * window = tk.Tk() -window.geometry('520x300') +window.geometry("520x300") label = tk.Label(window, text="Hello, world!") label.pack() -all_files = glob.glob("data/data.txt") +all_files = glob.glob("data/*.nc") file = all_files[0] -data = [] -with open(file, "r") as fp: - lines = fp.readlines() - for l in lines: - r = l.strip().split(",") - r[1] = float(r[1]) - r[2] = float(r[2]) - r[3] = float(r[3]) +data = [ + ("line", 0, 0, 277.8, 0, 5, 0), +] +# with open(file, "r") as fp: +# lines = fp.readlines() +# for l in lines: +# r = l.strip().split(",") +# r[1] = float(r[1]) +# r[2] = float(r[2]) +# r[3] = float(r[3]) - data.append(r) +# data.append(r) client = ModbusTcpClient( host=MODBUS_SERVER_HOST, @@ -44,7 +46,7 @@ try: bulb(GOTO_Y, False, client) get_or_set_speed(10, client) - + # ставим пользовательские переменные в ноль set_user_reg_800( [ @@ -112,6 +114,6 @@ except Exception as e: print("error", e) finally: client.close() - -if __name__=="__main__": - window.mainloop() \ No newline at end of file + +if __name__ == "__main__": + window.mainloop() diff --git a/client_socket.py b/client_socket.py index 1926c61..f578fb0 100644 --- a/client_socket.py +++ b/client_socket.py @@ -19,12 +19,12 @@ class SocketRobotArm: line_smooth = 9 line_tool = 1 - global_speed = 100 - physical_speed = 50 + global_speed = 10 + physical_speed = 10 # laser_id = 15 laser_id = 14 # filename = 'half-sphere-no-angle' - filename = "half-sphere" + filename = "test" urdf_filename = "sample" pass_size = 4 @@ -54,6 +54,7 @@ class SocketRobotArm: threading.Thread(target=self.run_pybullet, daemon=True).start() + print((self.port, self.host)) self.socket.connect((self.host, self.port)) self.cycle_base() @@ -125,7 +126,8 @@ class SocketRobotArm: self.tkinter_info_label.pack() self.tkinter_root.update() - step = 2 + step = 4 + empty = 1 for i in range(0, len(self.add_rcc_list), step): if not self.tkinter_info_label: return @@ -136,11 +138,14 @@ class SocketRobotArm: # self.update_text(m, text=f"Отправка данных {i}...{i+step-1}") self.tkinter_info_label.config(text=f"Отправка данных {i}...{i+step-1}") self.tkinter_root.update() - + # print(empty) self.send_data( - make_addrcc_data(self.add_rcc_list[i : i + step], int(not i)) + make_addrcc_data( + self.add_rcc_list[i : i + step], empty + ) ) - time.sleep(0.5) + empty = 0 + time.sleep(0.05) def imitate(self): points = self.steps_from_file() @@ -236,7 +241,7 @@ class SocketRobotArm: def make_world_step(self, type, point): step = { - "oneshot": "0", + "oneshot": "1", "delay": "0.0", "speed": str(self.line_speed), "smooth": str(self.line_smooth), diff --git a/data/test.nc.result b/data/test.nc.result new file mode 100644 index 0000000..1dee1e5 --- /dev/null +++ b/data/test.nc.result @@ -0,0 +1,19 @@ +X165 Y0 +X330 Y0 +X500 Y165 +X500 Y330 +X330 Y500 +X165 Y500 +X0 Y330 +X0 Y165 +Z-50 V40 X0 Y0 +Z-50 V40 X165 Y0 +Z-50 V40 X330 Y0 +Z-50 V-40 X500 Y165 +Z-50 V-40 X500 Y330 +Z-50 V-40 X330 Y500 +Z-50 V-40 X165 Y500 +Z-50 V40 X0 Y330 +Z-50 V40 X0 Y165 +Z-50 V40 X0 Y0 +X0 Y0 \ No newline at end of file diff --git a/func.py b/func.py index ca89f07..9765429 100644 --- a/func.py +++ b/func.py @@ -1,7 +1,9 @@ # Настройки клиента Modbus -MODBUS_SERVER_HOST = "192.168.70.55" # IP-адрес Modbus-сервера +# MODBUS_SERVER_HOST = "192.168.70.55" # IP-адрес Modbus-сервера +MODBUS_SERVER_HOST = "192.168.70.65" # IP-адрес Modbus-сервера MODBUS_SERVER_PORT = 502 -MODBUS_SLAVE_ID = 11 +# MODBUS_SLAVE_ID = 11 +MODBUS_SLAVE_ID = 22 indent = 21100 s = 800 diff --git a/urdf/sample.urdf b/urdf/sample.urdf index b17f2af..041f39d 100644 --- a/urdf/sample.urdf +++ b/urdf/sample.urdf @@ -5,11 +5,11 @@ - + - + @@ -20,7 +20,7 @@ - + @@ -35,7 +35,7 @@ - + @@ -50,7 +50,7 @@ - + @@ -65,7 +65,7 @@ - + @@ -80,7 +80,7 @@ - + @@ -96,7 +96,7 @@ - + @@ -104,7 +104,7 @@ - + @@ -112,7 +112,7 @@ - + @@ -120,7 +120,7 @@ - + @@ -128,7 +128,7 @@ - +