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update pump

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This commit is contained in:
weijian 2022-12-09 10:01:40 +08:00
parent c457523fec
commit 9842ff2057
4 changed files with 15 additions and 15 deletions
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8
mycobot_ai/aikit_280_pi/scripts/aikit_color.py
View file

@ -133,23 +133,23 @@ class Object_detect(Movement):
# pump_control pi # pump_control pi
def gpio_status(self, flag): def gpio_status(self, flag):
if flag: if flag:
# self.GPIO.output(20, 0) self.GPIO.output(20, 0)
self.GPIO.output(21, 0) self.GPIO.output(21, 0)
else: else:
# self.GPIO.output(20, 1) self.GPIO.output(20, 1)
self.GPIO.output(21, 1) self.GPIO.output(21, 1)
# 开启吸泵 m5 # 开启吸泵 m5
def pump_on(self): def pump_on(self):
# 让2号位工作 # 让2号位工作
# self.mc.set_basic_output(2, 0) self.mc.set_basic_output(2, 0)
# 让5号位工作 # 让5号位工作
self.mc.set_basic_output(5, 0) self.mc.set_basic_output(5, 0)
# 停止吸泵 m5 # 停止吸泵 m5
def pump_off(self): def pump_off(self):
# 让2号位停止工作 # 让2号位停止工作
# self.mc.set_basic_output(2, 1) self.mc.set_basic_output(2, 1)
# 让5号位停止工作 # 让5号位停止工作
self.mc.set_basic_output(5, 1) self.mc.set_basic_output(5, 1)

6
mycobot_ai/aikit_280_pi/scripts/aikit_encode.py
View file

@ -20,7 +20,7 @@ class Detect_marker():
#initialize MyCobot #initialize MyCobot
self.mc = MyCobot(PI_PORT, PI_BAUD) self.mc = MyCobot(PI_PORT, PI_BAUD)
GPIO.setmode(GPIO.BCM) GPIO.setmode(GPIO.BCM)
# GPIO.setup(20, GPIO.OUT) GPIO.setup(20, GPIO.OUT)
GPIO.setup(21, GPIO.OUT) GPIO.setup(21, GPIO.OUT)
# set cache of real coord # set cache of real coord
self.cache_x = self.cache_y = 0 self.cache_x = self.cache_y = 0
@ -74,10 +74,10 @@ class Detect_marker():
# 控制吸泵 # 控制吸泵
def pub_pump(self, flag): def pub_pump(self, flag):
if flag: if flag:
# GPIO.output(20, 0) GPIO.output(20, 0)
GPIO.output(21, 0) GPIO.output(21, 0)
else: else:
# GPIO.output(20, 1) GPIO.output(20, 1)
GPIO.output(21, 1) GPIO.output(21, 1)
# Grasping motion # Grasping motion

8
mycobot_ai/aikit_280_pi/scripts/aikit_img.py
View file

@ -121,23 +121,23 @@ class Object_detect(Movement):
# pump_control pi # pump_control pi
def gpio_status(self, flag): def gpio_status(self, flag):
if flag: if flag:
# self.GPIO.output(20, 0) self.GPIO.output(20, 0)
self.GPIO.output(21, 0) self.GPIO.output(21, 0)
else: else:
# self.GPIO.output(20, 1) self.GPIO.output(20, 1)
self.GPIO.output(21, 1) self.GPIO.output(21, 1)
# 开启吸泵 m5 # 开启吸泵 m5
def pump_on(self): def pump_on(self):
# 让2号位工作 # 让2号位工作
# self.mc.set_basic_output(2, 0) self.mc.set_basic_output(2, 0)
# 让5号位工作 # 让5号位工作
self.mc.set_basic_output(5, 0) self.mc.set_basic_output(5, 0)
# 停止吸泵 m5 # 停止吸泵 m5
def pump_off(self): def pump_off(self):
# 让2号位停止工作 # 让2号位停止工作
# self.mc.set_basic_output(2, 1) self.mc.set_basic_output(2, 1)
# 让5号位停止工作 # 让5号位停止工作
self.mc.set_basic_output(5, 1) self.mc.set_basic_output(5, 1)

8
mycobot_ai/aikit_280_pi/scripts/aikit_shape.py
View file

@ -97,23 +97,23 @@ class Object_detect():
# pump_control pi # pump_control pi
def gpio_status(self, flag): def gpio_status(self, flag):
if flag: if flag:
# self.GPIO.output(20, 0) self.GPIO.output(20, 0)
self.GPIO.output(21, 0) self.GPIO.output(21, 0)
else: else:
# self.GPIO.output(20, 1) self.GPIO.output(20, 1)
self.GPIO.output(21, 1) self.GPIO.output(21, 1)
# 开启吸泵 m5 # 开启吸泵 m5
def pump_on(self): def pump_on(self):
# 让2号位工作 # 让2号位工作
# self.mc.set_basic_output(2, 0) self.mc.set_basic_output(2, 0)
# 让5号位工作 # 让5号位工作
self.mc.set_basic_output(5, 0) self.mc.set_basic_output(5, 0)
# 停止吸泵 m5 # 停止吸泵 m5
def pump_off(self): def pump_off(self):
# 让2号位停止工作 # 让2号位停止工作
# self.mc.set_basic_output(2, 1) self.mc.set_basic_output(2, 1)
# 让5号位停止工作 # 让5号位停止工作
self.mc.set_basic_output(5, 1) self.mc.set_basic_output(5, 1)