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fix: Положение детали и переход к детали

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Леонид Титов 2024-12-28 17:17:17 +03:00
parent 92b0b4665b
commit 7902738290
3 changed files with 270 additions and 24 deletions
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264
params/operator_params.json
View File

@ -1,82 +1,322 @@
{ {
"distance_h_start_1": [ "distance_h_start_1": [
0.003,
0.003,
0.003,
0.003,
0.003,
0.003,
0.003,
0.003,
0.003,
0.003,
0.003,
0.003,
0.003, 0.003,
0.003 0.003
], ],
"distance_h_start_2": [ "distance_h_start_2": [
0.003,
0.003,
0.003,
0.003,
0.003,
0.003,
0.003,
0.003,
0.003,
0.003,
0.003,
0.003,
0.003, 0.003,
0.003 0.003
], ],
"distance_s_1": [ "distance_s_1": [
0.001,
0.001,
0.001,
0.001,
0.001,
0.001,
0.001,
0.001,
0.001,
0.001,
0.001,
0.001,
0.001, 0.001,
0.001 0.001
], ],
"distance_s_2": [ "distance_s_2": [
0.001,
0.001,
0.001,
0.001,
0.001,
0.001,
0.001,
0.001,
0.001,
0.001,
0.001,
0.001,
0.001, 0.001,
0.001 0.001
], ],
"distance_l_1": [ "distance_l_1": [
0.02, 0.01,
0.02 0.01,
0.01,
0.01,
0.01,
0.01,
0.01,
0.01,
0.01,
0.01,
0.01,
0.01,
0.01,
0.01
], ],
"distance_l_2": [ "distance_l_2": [
0.0325,
0.0325,
0.0325,
0.02,
0.02,
0.02,
0.02,
0.02,
0.02,
0.02,
0.02,
0.02,
0.02, 0.02,
0.02 0.02
], ],
"distance_h_end1": [ "distance_h_end1": [
0.003,
0.003,
0.003,
0.003,
0.003,
0.003,
0.003,
0.003,
0.003,
0.003,
0.003,
0.003,
0.003, 0.003,
0.003 0.003
], ],
"distance_h_end2": [ "distance_h_end2": [
0.003,
0.003,
0.003,
0.003,
0.003,
0.003,
0.003,
0.003,
0.003,
0.003,
0.003,
0.003,
0.003, 0.003,
0.003 0.003
], ],
"object_position": [ "object_position": [
0.02, 0.02743,
0.01 0.0249,
0.024,
0.02425,
0.0225,
0.0233,
0.0226,
0.02442,
0.02357,
0.02321,
0.02464,
0.02745,
0.02321,
0.021348
], ],
"time_wielding": [ "time_wielding": [
1.332, 1.332,
1.644 1.644,
1.644,
1.428,
1.284,
1.308,
1.272,
1.38,
1.416,
1.392,
1.38,
1.404,
1.452,
1.452
], ],
"time_command": [ "time_command": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0, 0.0,
0.0 0.0
], ],
"time_robot_movement": [ "time_robot_movement": [
0.14, 0.314,
0.331 0.331,
0.356,
0.428,
0.418,
0.454,
0.458,
0.44,
0.49,
0.47,
0.44,
0.425,
0.464,
0.5
], ],
"object_thickness": [ "object_thickness": [
0.0045,
0.0045,
0.0045,
0.0045,
0.0045,
0.0045,
0.0045,
0.0045,
0.0045,
0.0045,
0.0045,
0.0045,
0.0045, 0.0045,
0.0045 0.0045
], ],
"force_target": [ "force_target": [
5000.0,
5000.0,
5000.0,
5000.0,
5000.0,
5000.0,
5000.0,
5000.0,
5000.0,
5000.0,
5000.0,
5000.0,
5000.0, 5000.0,
5000.0 5000.0
], ],
"force_capture": [ "force_capture": [
500.0,
500.0,
500.0,
500.0,
500.0,
500.0,
500.0,
500.0,
500.0,
500.0,
500.0,
500.0,
500.0, 500.0,
500.0 500.0
], ],
"Tesla closing": [ "Tesla closing": [
0.216, 0.216,
0.228 0.228,
0.252,
0.216,
0.228,
0.216,
0.228,
0.228,
0.228,
0.216,
0.228,
0.216,
0.216,
0.216
], ],
"Tesla squeeze": [ "Tesla squeeze": [
0.276, 0.276,
0.288 0.288,
0.264,
0.264,
0.276,
0.276,
0.312,
0.276,
0.24,
0.24,
0.24,
0.24,
0.24,
0.24
], ],
"Tesla welding": [ "Tesla welding": [
1.332, 1.332,
1.644 1.644,
1.644,
1.428,
1.284,
1.308,
1.272,
1.38,
1.416,
1.392,
1.38,
1.404,
1.452,
1.452
], ],
"Tesla oncomming_relief": [ "Tesla oncomming_relief": [
0.528, 0.528,
0.528 0.528,
0.54,
0.636,
0.504,
0.468,
0.492,
0.54,
0.563,
0.588,
0.541,
0.564,
0.576,
0.507
], ],
"Tesla summary time": [ "Tesla summary time": [
2.34, 2.34,
2.652 2.652,
2.796,
2.4,
2.208,
2.34,
2.256,
2.544,
2.405,
2.405,
2.358,
2.37,
2.442,
1.908
] ]
} }

10
params/system_params.json
View File

@ -6,16 +6,16 @@
1000.0 1000.0
], ],
"a_max_1": [ "a_max_1": [
10.0 7.96
], ],
"v_max_1": [ "v_max_1": [
0.25 0.499
], ],
"a_max_2": [ "a_max_2": [
50.0 35.81
], ],
"v_max_2": [ "v_max_2": [
1.0 0.75
], ],
"mass_1": [ "mass_1": [
270.0 270.0
@ -57,6 +57,6 @@
1000.0 1000.0
], ],
"gun_range": [ "gun_range": [
100.0 112.5
] ]
} }

16
src/controller/passportFormer.py
View File

@ -62,10 +62,10 @@ class PassportFormer(BasePointPassportFormer):
points_pocket = [] points_pocket = []
system_settings = {key: value[0] for key, value in self._params[1].items()} system_settings = {key: value[0] for key, value in self._params[1].items()}
tesla_time = sum(self._params[0].get("Tesla summary time", [])) tesla_time = sum(self._params[0].get("Tesla summary time", []))
useful_data = {"tesla_time": tesla_time, useful_data = {
"tesla_time": tesla_time,
"range": system_settings["gun_range"], "range": system_settings["gun_range"],
"k_hardness": system_settings["k_hardness_1"], "k_hardness": system_settings["k_hardness_1"]
} }
for i in range(point_quantity): for i in range(point_quantity):
@ -82,8 +82,14 @@ class PassportFormer(BasePointPassportFormer):
for key, value in self._params[0].items() for key, value in self._params[0].items()
} }
displacement_me = -0.01 P1 = operator_settings["object_position"] + 0.5*operator_settings["object_thickness"]
displacement_fe = -0.01 P2 = operator_settings["object_position"] - 0.5*operator_settings["object_thickness"]
next_P1 = next_operator_settings["object_position"] + 0.5*next_operator_settings["object_thickness"]
next_P2 = next_operator_settings["object_position"] - 0.5*next_operator_settings["object_thickness"]
displacement_me = next_P1 - P1
displacement_fe = next_P2 - P2
operator_settings["distance_h_end1"] -= displacement_fe operator_settings["distance_h_end1"] -= displacement_fe
operator_settings["distance_h_end2"] += displacement_me operator_settings["distance_h_end2"] += displacement_me