From 70e6c269fe2e020cc52bb732683225de27045d37 Mon Sep 17 00:00:00 2001 From: gitea Date: Fri, 12 Jul 2024 10:46:59 +0800 Subject: [PATCH 1/9] =?UTF-8?q?v0.1.9.1(2024/07/12)=201.=20[APIs:=20do=5Fb?= =?UTF-8?q?rake.py]=20=20=20=20-=20=E4=BF=AE=E6=94=B9=E6=AD=A3=E8=B4=9F?= =?UTF-8?q?=E6=96=B9=E5=90=91=E6=8B=8D=E6=80=A5=E5=81=9C=E7=9A=84=E9=80=BB?= =?UTF-8?q?=E8=BE=91=EF=BC=8C=E5=9F=BA=E6=9C=AC=E5=8E=9F=E7=90=86=E4=B8=BA?= =?UTF-8?q?=EF=BC=9A=E8=BF=90=E8=A1=8C=E4=B9=8B=E5=89=8D=E5=8F=91=E9=80=81?= =?UTF-8?q?=E6=AD=A3=E8=B4=9F=E6=96=B9=E5=90=91=E4=BF=A1=E5=8F=B7pon?= =?UTF-8?q?=E7=BB=99RL=EF=BC=8CRL=E6=A0=B9=E6=8D=AE=E4=BF=A1=E5=8F=B7?= =?UTF-8?q?=E4=BB=A5=E5=8F=8A=E9=80=9F=E5=BA=A6=E6=AD=A3=E8=B4=9F=E5=8F=B7?= =?UTF-8?q?=E8=BF=90=E4=BD=9C=20=20=20=20-=20=E7=94=B1=E4=BA=8E=E4=B8=8A?= =?UTF-8?q?=E8=BF=B0=E4=BF=AE=E6=94=B9=EF=BC=8C=E6=AD=A3=E8=B4=9F=E6=96=B9?= =?UTF-8?q?=E5=90=91=E6=80=A5=E5=81=9C=E5=87=86=E7=A1=AE=E7=8E=87=E5=8F=AF?= =?UTF-8?q?=E8=BE=BE100%=202.=20[APIs:=20aio.py]=20=20=20=20-=20=E4=BF=AE?= =?UTF-8?q?=E6=94=B9write2textbox=E7=9A=84=E8=BE=93=E5=87=BA=E9=80=BB?= =?UTF-8?q?=E8=BE=91=EF=BC=8C=E5=AE=9E=E7=8E=B0=E6=9B=B4=E5=8A=A0=E7=81=B5?= =?UTF-8?q?=E6=B4=BB=E7=9A=84=E8=87=AA=E5=AE=9A=E4=B9=89=E8=BE=93=E5=87=BA?= =?UTF-8?q?=EF=BC=8C=E5=90=8C=E6=97=B6=E4=BF=AE=E6=94=B9=E7=9B=B8=E5=85=B3?= =?UTF-8?q?=E9=83=A8=E5=88=86=203.=20[APIs:=20openapi.py]=20=20=20=20-=20m?= =?UTF-8?q?odbus=E7=B1=BB=E6=96=B0=E5=A2=9E=E6=8C=87=E7=A4=BA=E6=94=BF?= =?UTF-8?q?=E5=BA=9C=E6=96=B9=E5=90=91=E6=80=A5=E5=81=9C=E7=9A=84=E4=BF=A1?= =?UTF-8?q?=E5=8F=B7pon=EF=BC=8C=E5=B0=86modbus=E7=B1=BB=E5=85=A5=E5=8F=82?= =?UTF-8?q?=E4=B8=AD=E7=9A=84tab=5Fname=E5=88=A0=E9=99=A4=EF=BC=8C?= =?UTF-8?q?=E5=B9=B6=E4=BF=AE=E6=94=B9tab=5Fname=E7=9A=84=E5=80=BC?= =?UTF-8?q?=E4=B8=BA'openapi'=20=20=20=20-=20socket=E7=B1=BB=E7=A7=8D?= =?UTF-8?q?=E4=BF=AE=E6=94=B9tab=5Fname=E7=9A=84=E5=80=BC=E4=B8=BA'openapi?= =?UTF-8?q?'?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- aio/README.md | 15 ++++++++-- aio/assets/autotest.xml | 41 ++++++++++++++++++++++------ aio/assets/file_version_info.txt | 8 +++--- aio/assets/target.zip | Bin 26139 -> 26230 bytes aio/assets/vers | 2 +- aio/code/aio.py | 32 ++++++++++++++-------- aio/code/automatic_test/do_brake.py | 27 ++++++++++++------ aio/code/automatic_test/openapi.py | 17 ++++++++---- 8 files changed, 103 insertions(+), 39 deletions(-) diff --git a/aio/README.md b/aio/README.md index f5b9072..4f9b309 100644 --- a/aio/README.md +++ b/aio/README.md @@ -132,13 +132,14 @@ pyinstaller --noconfirm --onedir --windowed --add-data "C:/Users/Administrator/A > **需要注意的点** -1. 使用之前需要手动修改点位信息，确保所有点位不会发生撞击之后，再进行自动化测试 +1. 使用之前需要手动修改!!负载信息!!点位信息!!，确保所有点位不会发生撞击之后，再进行自动化测试 2. 工程文件不能手动重命名，需要重命名存档，可以导入HMI，然后另存为 3. 务必正确填写configs.xlsx中的Target页面，A1单元格可以选择正负方向急停，但不完全保证100%，大概有95%左右的准确度 4. 由于xCore系统问题，运行过程中可能会出现机器人宕机问题，如果遇到，可以手动重启控制柜，重新运行 5. 运行过程中，如果是因为机器问题无法达到额定百分比速度，会在日志输出框提示，注意观察 6. 运行自动化程序之前，确保机器处于正常状态，无故障，未触发急停 7. 需要额外硬件接线，详细参考configs.xlsx中急停接线图sheet页 +8. 注意观察二轴100%臂展时，是否可以获取到正确的数据 #### 6) 电机电流自动化测试 @@ -450,4 +451,14 @@ v0.1.8.2(2024/07/08) v0.1.9.0(2024/07/10) 1. 完成了制动性能的自动化采集 2. 完善了modbus浮点数读写相关的功能 -3. 修改了target.zip工程，该工程目前适配电机电流和制动性能 \ No newline at end of file +3. 修改了target.zip工程，该工程目前适配电机电流和制动性能 + +v0.1.9.1(2024/07/12) +1. [APIs: do_brake.py] + - 修改正负方向拍急停的逻辑，基本原理为：运行之前发送正负方向信号pon给RL，RL根据信号以及速度正负号运作 + - 由于上述修改，正负方向急停准确率可达100% +2. [APIs: aio.py] + - 修改write2textbox的输出逻辑，实现更加灵活的自定义输出，同时修改相关部分 +3. [APIs: openapi.py] + - modbus类新增指示政府方向急停的信号pon，将modbus类入参中的tab_name删除，并修改tab_name的值为'openapi' + - socket类种修改tab_name的值为'openapi' \ No newline at end of file diff --git a/aio/assets/autotest.xml b/aio/assets/autotest.xml index 51aa397..e201e65 100644 --- a/aio/assets/autotest.xml +++ b/aio/assets/autotest.xml @@ -943,6 +943,7 @@ + @@ -950,7 +951,7 @@ - + @@ -961,7 +962,8 @@ - + + @@ -969,7 +971,7 @@ - + @@ -980,7 +982,8 @@ - + + @@ -988,7 +991,7 @@ - + @@ -999,7 +1002,8 @@ - + + @@ -1007,7 +1011,7 @@ - + @@ -1019,6 +1023,7 @@ + @@ -1026,7 +1031,7 @@ - + @@ -1038,5 +1043,25 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/aio/assets/file_version_info.txt b/aio/assets/file_version_info.txt index c21b6b5..ca423d4 100644 --- a/aio/assets/file_version_info.txt +++ b/aio/assets/file_version_info.txt @@ -6,8 +6,8 @@ VSVersionInfo( ffi=FixedFileInfo( # filevers and prodvers should be always a tuple with four items: (1, 2, 3, 4) # Set not needed items to zero 0. - filevers=(0, 1, 9, 0), - prodvers=(0, 1, 9, 0), + filevers=(0, 1, 9, 1), + prodvers=(0, 1, 9, 1), # Contains a bitmask that specifies the valid bits 'flags'r mask=0x3f, # Contains a bitmask that specifies the Boolean attributes of the file. @@ -31,12 +31,12 @@ VSVersionInfo( '040904b0', [StringStruct('CompanyName', 'Rokae - https://www.rokae.com/'), StringStruct('FileDescription', 'All in one automatic toolbox'), - StringStruct('FileVersion', '0.1.9.0 (2024-07-10)'), + StringStruct('FileVersion', '0.1.9.1 (2024-07-12)'), StringStruct('InternalName', 'AIO.exe'), StringStruct('LegalCopyright', '© 2024-2024 Manford Fan'), StringStruct('OriginalFilename', 'AIO.exe'), StringStruct('ProductName', 'AIO'), - StringStruct('ProductVersion', '0.1.9.0 (2024-07-10)')]) + StringStruct('ProductVersion', '0.1.9.1 (2024-07-12)')]) ]), VarFileInfo([VarStruct('Translation', [1033, 1200])]) ] diff --git a/aio/assets/target.zip b/aio/assets/target.zip index 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a/aio/assets/vers +++ b/aio/assets/vers @@ -1 +1 @@ -0.1.9.0 @ 07/10/2024 \ No newline at end of file +0.1.9.1 @ 07/12/2024 \ No newline at end of file diff --git a/aio/code/aio.py b/aio/code/aio.py index 165966c..adfeca2 100644 --- a/aio/code/aio.py +++ b/aio/code/aio.py @@ -43,8 +43,7 @@ class App(customtkinter.CTk): self.my_font = customtkinter.CTkFont(family="Consolas", size=16, weight="bold") self.w_param = 84 self.hr = None - self.md_at = None - self.md_dp = None + self.md = None # ===================================================================== # configure window self.title("AIO - All in one automatic toolbox") @@ -71,7 +70,7 @@ class App(customtkinter.CTk): btns_func['log']['btn'].configure(command=lambda: self.thread_it(self.func_log_callback)) btns_func['end']['btn'].configure(command=lambda: self.thread_it(self.func_end_callback)) # create version info - self.label_version = customtkinter.CTkLabel(self.frame_func, justify='left', text="Vers: 0.1.9.0\nDate: 07/10/2024", font=self.my_font, text_color="#4F4F4F") + self.label_version = customtkinter.CTkLabel(self.frame_func, justify='left', text="Vers: 0.1.9.1\nDate: 07/12/2024", font=self.my_font, text_color="#4F4F4F") self.frame_func.rowconfigure(6, weight=1) self.label_version.grid(row=6, column=0, padx=20, pady=20, sticky='s') # ===================================================================== @@ -175,7 +174,7 @@ class App(customtkinter.CTk): else: for _func in _btn_funcs: if _btn_funcs[_func] == value: - btn_functions.main(self.hr, self.md_at, _func, self.write2textbox) + btn_functions.main(self.hr, self.md, _func, self.write2textbox) break self.seg_button.configure(state='normal') @@ -185,8 +184,7 @@ class App(customtkinter.CTk): with open(f"{current_path}/../assets/templates/heartbeat", "w", encoding='utf-8') as f_hb: f_hb.write('0') self.hr = openapi.HmiRequest(self.write2textbox) - self.md_at = openapi.ModbusRequest(self, 'Automatic Test') - self.md_dp = openapi.ModbusRequest(self, 'Data Process') + self.md = openapi.ModbusRequest(self.write2textbox) while True: with open(f'{current_path}/../assets/templates/heartbeat', 'r', encoding='utf-8') as f_hb: @@ -194,7 +192,6 @@ class App(customtkinter.CTk): pb_color = 'green' if c_state == '1' else 'red' self.progressbar.configure(progress_color=pb_color) if c_state == '0': - # self.textbox.delete(index1='1.0', index2='end') self.hr.t_bool = False sleep(3) del self.hr @@ -203,7 +200,6 @@ class App(customtkinter.CTk): def tabview_click(self): self.initialization() - # self.textbox.delete(index1='1.0', index2='end') tab_name = self.tabview.get() if tab_name == 'Data Process': @@ -351,7 +347,21 @@ class App(customtkinter.CTk): self.textbox.insert(index='end', text=text + '\n', tags=color) self.textbox.update() self.textbox.see('end') - + elif tab_name == 'openapi' and tab_name_cur == 'Automatic Test': + if wait != 0: + self.textbox.insert(index='end', text=text, tags=color) + self.textbox.update() + self.textbox.see('end') + elif exitcode != 0: + self.textbox.insert(index='end', text=text + '\n', tags=color) + self.textbox.update() + self.textbox.see('end') + raise Exception(f"Error code: {exitcode}") + else: + self.textbox.insert(index='end', text=text + '\n', tags=color) + self.textbox.update() + self.textbox.see('end') + def is_float(self, flag, *args): for item in args: try: @@ -459,10 +469,10 @@ class App(customtkinter.CTk): func_dict[flag](path=args[0], w2t=self.write2textbox) elif flag == 5: self.pre_warning() - func_dict[flag](path=args[0], hr=self.hr, md=self.md_at, loadsel=args[1], w2t=self.write2textbox) + func_dict[flag](path=args[0], hr=self.hr, md=self.md, loadsel=args[1], w2t=self.write2textbox) elif flag == 6: self.pre_warning() - func_dict[flag](path=args[0], hr=self.hr, md=self.md_at, loadsel=args[1], w2t=self.write2textbox) + func_dict[flag](path=args[0], hr=self.hr, md=self.md, loadsel=args[1], w2t=self.write2textbox) else: tkinter.messagebox.showerror(title="参数错误", message="请检查对应参数是否填写正确！", ) diff --git a/aio/code/automatic_test/do_brake.py b/aio/code/automatic_test/do_brake.py index 6b94f6b..171310b 100644 --- a/aio/code/automatic_test/do_brake.py +++ b/aio/code/automatic_test/do_brake.py @@ -168,6 +168,13 @@ def run_rl(path, loadsel, hr, md, config_file, prj_file, result_dirs, w2t): ] wb = load_workbook(config_file, read_only=True) ws = wb['Target'] + if ws.cell(row=1, column=1).value == 'positive': + md.write_pon(True) + elif ws.cell(row=1, column=1).value == 'negative': + md.write_pon(False) + else: + w2t("configs.xlsx中Target页面A1单元格填写不正确，检查后重新运行...", 0, 111, 'red', 'Automatic Test') + for condition in result_dirs: _reach = condition.split('_')[0].removeprefix('reach') _load = condition.split('_')[1].removeprefix('load') @@ -196,17 +203,17 @@ def run_rl(path, loadsel, hr, md, config_file, prj_file, result_dirs, w2t): ssh.set_missing_host_key_policy(AutoAddPolicy()) ssh.connect('192.168.0.160', 22, username='luoshi', password='luoshi2019') if ws.cell(row=1, column=1).value == 'positive': - _rl_cmd = f"brake_E(j{axis}_{_reach}_n, j{axis}_{_reach}_p, p_speed, p_tool)" - elif ws.cell(row=1, column=1).value == 'negative': _rl_cmd = f"brake_E(j{axis}_{_reach}_p, j{axis}_{_reach}_n, p_speed, p_tool)" + elif ws.cell(row=1, column=1).value == 'negative': + _rl_cmd = f"brake_E(j{axis}_{_reach}_n, j{axis}_{_reach}_p, p_speed, p_tool)" else: w2t("configs.xlsx中Target页面A1单元格填写不正确，检查后重新运行...", 0, 111, 'red', 'Automatic Test') _rl_speed = f"VelSet {_speed}" cmd = 'cd /home/luoshi/bin/controller/; ' cmd += 'sudo sed -i "/brake_E/d" projects/target/_build/brake/main.mod; ' cmd += f'sudo sed -i "/DONOTDELETE/i {_rl_cmd}" projects/target/_build/brake/main.mod; ' - cmd += f'sudo sed -i "/VelSet/d" projects/target/_build/brake/main.mod; ' - cmd += f'sudo sed -i "/MoveAbsJ/i {_rl_speed}" projects/target/_build/brake/main.mod; ' + cmd += 'sudo sed -i "/VelSet/d" projects/target/_build/brake/main.mod; ' + cmd += f'sudo sed -i "/MoveAbsJ/i {_rl_speed}" projects/target/_build/brake/main.mod' stdin, stdout, stderr = ssh.exec_command(cmd, get_pty=True) stdin.write('luoshi2019' + '\n') stdin.flush() @@ -233,7 +240,7 @@ def run_rl(path, loadsel, hr, md, config_file, prj_file, result_dirs, w2t): if count == 1: _response = execution('diagnosis.open', hr, w2t, open=True, display_open=True) _response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params) - sleep(8) # 前八秒获取实际最大速度 + sleep(10) # 前10秒获取实际最大速度 md.trigger_estop() _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False) @@ -277,7 +284,7 @@ def run_rl(path, loadsel, hr, md, config_file, prj_file, result_dirs, w2t): _response = execution('diagnosis.open', hr, w2t, open=True, display_open=True) _response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params) - # sleep(randint(3, 6)) + sleep(randint(3, 6)) md.write_probe(True) _t_start = time() while True: @@ -288,8 +295,12 @@ def run_rl(path, loadsel, hr, md, config_file, prj_file, result_dirs, w2t): sleep(1) # 保证所有数据均已返回 break else: - if (time() - _t_start) // 60 > 1: - w2t(f"规定时间内未找到合适的点触发急停，需要确认RL/Python程序编写正确并正常执行...", 0, 111, 'red', 'Automatic Test') + if (time() - _t_start) > 30: + w2t(f"30s内未触发急停，该条数据无效，需要确认RL/Python程序编写正确并正常执行，或者判别是否是机器本体问题...", 0, 0, 'red', 'Automatic Test') + md.write_probe(False) + _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False) + sleep(1) # 保证所有数据均已返回 + break else: sleep(1) diff --git a/aio/code/automatic_test/openapi.py b/aio/code/automatic_test/openapi.py index 703e9c7..f688694 100644 --- a/aio/code/automatic_test/openapi.py +++ b/aio/code/automatic_test/openapi.py @@ -1,4 +1,4 @@ -from json import load, dumps, loads +from json import load, dumps from socket import socket, setdefaulttimeout, AF_INET, SOCK_STREAM from threading import Thread import selectors @@ -14,10 +14,10 @@ current_path = dirname(__file__) class ModbusRequest(object): - def __init__(self, w2t, tab_name): + def __init__(self, w2t): super().__init__() self.w2t = w2t - self.tab_name = tab_name + self.tab_name = 'openapi' self.host = '192.168.0.160' self.port = 502 self.c = ModbusTcpClient(self.host, self.port) @@ -167,6 +167,13 @@ class ModbusRequest(object): self.w2t(f"{Err}") self.w2t("无法写入速度探测信号，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name) + def write_pon(self, pon): # positive or negative + try: + self.c.write_register(41011, pon) + except Exception as Err: + self.w2t(f"{Err}") + self.w2t("无法写入正负方向信号，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name) + class HmiRequest(object): def __init__(self, w2t): @@ -182,7 +189,7 @@ class HmiRequest(object): self.flag_xs = 0 self.response_xs = '' self.t_bool = True - self.tab_name = 'Automatic Test' + self.tab_name = 'openapi' self.pkg_size = 0 self.broke = 0 self.half = 0 @@ -219,7 +226,7 @@ class HmiRequest(object): self.w2t("Connection success", 0, 0, 'green', tab_name=self.tab_name) with open(f"{current_path}/../../assets/templates/heartbeat", "w", encoding='utf-8') as f_hb: f_hb.write('1') - md = ModbusRequest(self.w2t, self.tab_name) + md = ModbusRequest(self.w2t) md.reset_estop() md.clear_alarm() md.write_act(False) From dee07b77bbc7f52f3e948a4a1c2424d8ad947ab5 Mon Sep 17 00:00:00 2001 From: gitea Date: Fri, 12 Jul 2024 10:48:50 +0800 Subject: [PATCH 2/9] =?UTF-8?q?v0.1.9.1(2024/07/12)=201.=20[APIs:=20do=5Fb?= =?UTF-8?q?rake.py]=20=20=20=20-=20=E4=BF=AE=E6=94=B9=E6=AD=A3=E8=B4=9F?= =?UTF-8?q?=E6=96=B9=E5=90=91=E6=8B=8D=E6=80=A5=E5=81=9C=E7=9A=84=E9=80=BB?= =?UTF-8?q?=E8=BE=91=EF=BC=8C=E5=9F=BA=E6=9C=AC=E5=8E=9F=E7=90=86=E4=B8=BA?= =?UTF-8?q?=EF=BC=9A=E8=BF=90=E8=A1=8C=E4=B9=8B=E5=89=8D=E5=8F=91=E9=80=81?= =?UTF-8?q?=E6=AD=A3=E8=B4=9F=E6=96=B9=E5=90=91=E4=BF=A1=E5=8F=B7pon?= =?UTF-8?q?=E7=BB=99RL=EF=BC=8CRL=E6=A0=B9=E6=8D=AE=E4=BF=A1=E5=8F=B7?= =?UTF-8?q?=E4=BB=A5=E5=8F=8A=E9=80=9F=E5=BA=A6=E6=AD=A3=E8=B4=9F=E5=8F=B7?= =?UTF-8?q?=E8=BF=90=E4=BD=9C=20=20=20=20-=20=E7=94=B1=E4=BA=8E=E4=B8=8A?= =?UTF-8?q?=E8=BF=B0=E4=BF=AE=E6=94=B9=EF=BC=8C=E6=AD=A3=E8=B4=9F=E6=96=B9?= =?UTF-8?q?=E5=90=91=E6=80=A5=E5=81=9C=E5=87=86=E7=A1=AE=E7=8E=87=E5=8F=AF?= =?UTF-8?q?=E8=BE=BE100%=202.=20[APIs:=20aio.py]=20=20=20=20-=20=E4=BF=AE?= =?UTF-8?q?=E6=94=B9write2textbox=E7=9A=84=E8=BE=93=E5=87=BA=E9=80=BB?= =?UTF-8?q?=E8=BE=91=EF=BC=8C=E5=AE=9E=E7=8E=B0=E6=9B=B4=E5=8A=A0=E7=81=B5?= =?UTF-8?q?=E6=B4=BB=E7=9A=84=E8=87=AA=E5=AE=9A=E4=B9=89=E8=BE=93=E5=87=BA?= =?UTF-8?q?=EF=BC=8C=E5=90=8C=E6=97=B6=E4=BF=AE=E6=94=B9=E7=9B=B8=E5=85=B3?= =?UTF-8?q?=E9=83=A8=E5=88=86=203.=20[APIs:=20openapi.py]=20=20=20=20-=20m?= =?UTF-8?q?odbus=E7=B1=BB=E6=96=B0=E5=A2=9E=E6=8C=87=E7=A4=BA=E6=94=BF?= =?UTF-8?q?=E5=BA=9C=E6=96=B9=E5=90=91=E6=80=A5=E5=81=9C=E7=9A=84=E4=BF=A1?= =?UTF-8?q?=E5=8F=B7pon=EF=BC=8C=E5=B0=86modbus=E7=B1=BB=E5=85=A5=E5=8F=82?= =?UTF-8?q?=E4=B8=AD=E7=9A=84tab=5Fname=E5=88=A0=E9=99=A4=EF=BC=8C?= =?UTF-8?q?=E5=B9=B6=E4=BF=AE=E6=94=B9tab=5Fname=E7=9A=84=E5=80=BC?= =?UTF-8?q?=E4=B8=BA'openapi'=20=20=20=20-=20socket=E7=B1=BB=E7=A7=8D?= =?UTF-8?q?=E4=BF=AE=E6=94=B9tab=5Fname=E7=9A=84=E5=80=BC=E4=B8=BA'openapi?= =?UTF-8?q?'?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- aio/README.md | 15 ++++++++-- aio/assets/autotest.xml | 41 ++++++++++++++++++++++------ aio/assets/file_version_info.txt | 8 +++--- aio/assets/target.zip | Bin 26139 -> 26230 bytes aio/assets/vers | 2 +- aio/code/aio.py | 32 ++++++++++++++-------- aio/code/automatic_test/do_brake.py | 27 ++++++++++++------ aio/code/automatic_test/openapi.py | 17 ++++++++---- 8 files changed, 103 insertions(+), 39 deletions(-) diff --git a/aio/README.md b/aio/README.md index f5b9072..ba2820e 100644 --- a/aio/README.md +++ b/aio/README.md @@ -132,13 +132,14 @@ pyinstaller --noconfirm --onedir --windowed --add-data "C:/Users/Administrator/A > **需要注意的点** -1. 使用之前需要手动修改点位信息，确保所有点位不会发生撞击之后，再进行自动化测试 +1. 使用之前需要手动修改!!负载信息!!点位信息!!，确保所有点位不会发生撞击之后，再进行自动化测试 2. 工程文件不能手动重命名，需要重命名存档，可以导入HMI，然后另存为 3. 务必正确填写configs.xlsx中的Target页面，A1单元格可以选择正负方向急停，但不完全保证100%，大概有95%左右的准确度 4. 由于xCore系统问题，运行过程中可能会出现机器人宕机问题，如果遇到，可以手动重启控制柜，重新运行 5. 运行过程中，如果是因为机器问题无法达到额定百分比速度，会在日志输出框提示，注意观察 6. 运行自动化程序之前，确保机器处于正常状态，无故障，未触发急停 7. 需要额外硬件接线，详细参考configs.xlsx中急停接线图sheet页 +8. 注意观察二轴100%臂展时，是否可以获取到正确的数据 #### 6) 电机电流自动化测试 @@ -450,4 +451,14 @@ v0.1.8.2(2024/07/08) v0.1.9.0(2024/07/10) 1. 完成了制动性能的自动化采集 2. 完善了modbus浮点数读写相关的功能 -3. 修改了target.zip工程，该工程目前适配电机电流和制动性能 \ No newline at end of file +3. 修改了target.zip工程，该工程目前适配电机电流和制动性能 + +v0.1.9.1(2024/07/12) +1. [APIs: do_brake.py] + - 修改正负方向拍急停的逻辑，基本原理为：运行之前发送正负方向信号pon给RL，RL根据信号以及速度正负号运作 + - 由于上述修改，正负方向急停准确率可达100% +2. [APIs: aio.py] + - 修改write2textbox的输出逻辑，实现更加灵活的自定义输出，同时修改相关部分 +3. [APIs: openapi.py] + - modbus类新增指示政府方向急停的信号pon，将modbus类入参中的tab_name删除，并修改tab_name的值为'openapi' + - socket类种修改tab_name的值为'openapi' diff --git a/aio/assets/autotest.xml b/aio/assets/autotest.xml index 51aa397..e201e65 100644 --- a/aio/assets/autotest.xml +++ b/aio/assets/autotest.xml @@ -943,6 +943,7 @@ + @@ -950,7 +951,7 @@ - + @@ -961,7 +962,8 @@ - + + @@ -969,7 +971,7 @@ - + @@ -980,7 +982,8 @@ - + + @@ -988,7 +991,7 @@ - + @@ -999,7 +1002,8 @@ - + + @@ -1007,7 +1011,7 @@ - + @@ -1019,6 +1023,7 @@ + @@ -1026,7 +1031,7 @@ - + @@ -1038,5 +1043,25 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/aio/assets/file_version_info.txt b/aio/assets/file_version_info.txt index c21b6b5..ca423d4 100644 --- a/aio/assets/file_version_info.txt +++ b/aio/assets/file_version_info.txt @@ -6,8 +6,8 @@ VSVersionInfo( ffi=FixedFileInfo( # filevers and prodvers should be always a tuple with four items: (1, 2, 3, 4) # Set not needed items to zero 0. - filevers=(0, 1, 9, 0), - prodvers=(0, 1, 9, 0), + filevers=(0, 1, 9, 1), + prodvers=(0, 1, 9, 1), # Contains a bitmask that specifies the valid bits 'flags'r mask=0x3f, # Contains a bitmask that specifies the Boolean attributes of the file. @@ -31,12 +31,12 @@ VSVersionInfo( '040904b0', [StringStruct('CompanyName', 'Rokae - https://www.rokae.com/'), StringStruct('FileDescription', 'All in one automatic toolbox'), - StringStruct('FileVersion', '0.1.9.0 (2024-07-10)'), + StringStruct('FileVersion', '0.1.9.1 (2024-07-12)'), StringStruct('InternalName', 'AIO.exe'), StringStruct('LegalCopyright', '© 2024-2024 Manford Fan'), StringStruct('OriginalFilename', 'AIO.exe'), StringStruct('ProductName', 'AIO'), - StringStruct('ProductVersion', '0.1.9.0 (2024-07-10)')]) + StringStruct('ProductVersion', '0.1.9.1 (2024-07-12)')]) ]), VarFileInfo([VarStruct('Translation', [1033, 1200])]) ] diff --git a/aio/assets/target.zip b/aio/assets/target.zip index 651d577bb36baeb507b96914b35e0c138c559be4..2c9fdb777fe8303dc6a7e87ec4b61cecdf3d822f 100644 GIT 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+0.1.9.1 @ 07/12/2024 \ No newline at end of file diff --git a/aio/code/aio.py b/aio/code/aio.py index 165966c..adfeca2 100644 --- a/aio/code/aio.py +++ b/aio/code/aio.py @@ -43,8 +43,7 @@ class App(customtkinter.CTk): self.my_font = customtkinter.CTkFont(family="Consolas", size=16, weight="bold") self.w_param = 84 self.hr = None - self.md_at = None - self.md_dp = None + self.md = None # ===================================================================== # configure window self.title("AIO - All in one automatic toolbox") @@ -71,7 +70,7 @@ class App(customtkinter.CTk): btns_func['log']['btn'].configure(command=lambda: self.thread_it(self.func_log_callback)) btns_func['end']['btn'].configure(command=lambda: self.thread_it(self.func_end_callback)) # create version info - self.label_version = customtkinter.CTkLabel(self.frame_func, justify='left', text="Vers: 0.1.9.0\nDate: 07/10/2024", font=self.my_font, text_color="#4F4F4F") + self.label_version = customtkinter.CTkLabel(self.frame_func, justify='left', text="Vers: 0.1.9.1\nDate: 07/12/2024", font=self.my_font, text_color="#4F4F4F") self.frame_func.rowconfigure(6, weight=1) self.label_version.grid(row=6, column=0, padx=20, pady=20, sticky='s') # ===================================================================== @@ -175,7 +174,7 @@ class App(customtkinter.CTk): else: for _func in _btn_funcs: if _btn_funcs[_func] == value: - btn_functions.main(self.hr, self.md_at, _func, self.write2textbox) + btn_functions.main(self.hr, self.md, _func, self.write2textbox) break self.seg_button.configure(state='normal') @@ -185,8 +184,7 @@ class App(customtkinter.CTk): with open(f"{current_path}/../assets/templates/heartbeat", "w", encoding='utf-8') as f_hb: f_hb.write('0') self.hr = openapi.HmiRequest(self.write2textbox) - self.md_at = openapi.ModbusRequest(self, 'Automatic Test') - self.md_dp = openapi.ModbusRequest(self, 'Data Process') + self.md = openapi.ModbusRequest(self.write2textbox) while True: with open(f'{current_path}/../assets/templates/heartbeat', 'r', encoding='utf-8') as f_hb: @@ -194,7 +192,6 @@ class App(customtkinter.CTk): pb_color = 'green' if c_state == '1' else 'red' self.progressbar.configure(progress_color=pb_color) if c_state == '0': - # self.textbox.delete(index1='1.0', index2='end') self.hr.t_bool = False sleep(3) del self.hr @@ -203,7 +200,6 @@ class App(customtkinter.CTk): def tabview_click(self): self.initialization() - # self.textbox.delete(index1='1.0', index2='end') tab_name = self.tabview.get() if tab_name == 'Data Process': @@ -351,7 +347,21 @@ class App(customtkinter.CTk): self.textbox.insert(index='end', text=text + '\n', tags=color) self.textbox.update() self.textbox.see('end') - + elif tab_name == 'openapi' and tab_name_cur == 'Automatic Test': + if wait != 0: + self.textbox.insert(index='end', text=text, tags=color) + self.textbox.update() + self.textbox.see('end') + elif exitcode != 0: + self.textbox.insert(index='end', text=text + '\n', tags=color) + self.textbox.update() + self.textbox.see('end') + raise Exception(f"Error code: {exitcode}") + else: + self.textbox.insert(index='end', text=text + '\n', tags=color) + self.textbox.update() + self.textbox.see('end') + def is_float(self, flag, *args): for item in args: try: @@ -459,10 +469,10 @@ class App(customtkinter.CTk): func_dict[flag](path=args[0], w2t=self.write2textbox) elif flag == 5: self.pre_warning() - func_dict[flag](path=args[0], hr=self.hr, md=self.md_at, loadsel=args[1], w2t=self.write2textbox) + func_dict[flag](path=args[0], hr=self.hr, md=self.md, loadsel=args[1], w2t=self.write2textbox) elif flag == 6: self.pre_warning() - func_dict[flag](path=args[0], hr=self.hr, md=self.md_at, loadsel=args[1], w2t=self.write2textbox) + func_dict[flag](path=args[0], hr=self.hr, md=self.md, loadsel=args[1], w2t=self.write2textbox) else: tkinter.messagebox.showerror(title="参数错误", message="请检查对应参数是否填写正确！", ) diff --git a/aio/code/automatic_test/do_brake.py b/aio/code/automatic_test/do_brake.py index 6b94f6b..171310b 100644 --- a/aio/code/automatic_test/do_brake.py +++ b/aio/code/automatic_test/do_brake.py @@ -168,6 +168,13 @@ def run_rl(path, loadsel, hr, md, config_file, prj_file, result_dirs, w2t): ] wb = load_workbook(config_file, read_only=True) ws = wb['Target'] + if ws.cell(row=1, column=1).value == 'positive': + md.write_pon(True) + elif ws.cell(row=1, column=1).value == 'negative': + md.write_pon(False) + else: + w2t("configs.xlsx中Target页面A1单元格填写不正确，检查后重新运行...", 0, 111, 'red', 'Automatic Test') + for condition in result_dirs: _reach = condition.split('_')[0].removeprefix('reach') _load = condition.split('_')[1].removeprefix('load') @@ -196,17 +203,17 @@ def run_rl(path, loadsel, hr, md, config_file, prj_file, result_dirs, w2t): ssh.set_missing_host_key_policy(AutoAddPolicy()) ssh.connect('192.168.0.160', 22, username='luoshi', password='luoshi2019') if ws.cell(row=1, column=1).value == 'positive': - _rl_cmd = f"brake_E(j{axis}_{_reach}_n, j{axis}_{_reach}_p, p_speed, p_tool)" - elif ws.cell(row=1, column=1).value == 'negative': _rl_cmd = f"brake_E(j{axis}_{_reach}_p, j{axis}_{_reach}_n, p_speed, p_tool)" + elif ws.cell(row=1, column=1).value == 'negative': + _rl_cmd = f"brake_E(j{axis}_{_reach}_n, j{axis}_{_reach}_p, p_speed, p_tool)" else: w2t("configs.xlsx中Target页面A1单元格填写不正确，检查后重新运行...", 0, 111, 'red', 'Automatic Test') _rl_speed = f"VelSet {_speed}" cmd = 'cd /home/luoshi/bin/controller/; ' cmd += 'sudo sed -i "/brake_E/d" projects/target/_build/brake/main.mod; ' cmd += f'sudo sed -i "/DONOTDELETE/i {_rl_cmd}" projects/target/_build/brake/main.mod; ' - cmd += f'sudo sed -i "/VelSet/d" projects/target/_build/brake/main.mod; ' - cmd += f'sudo sed -i "/MoveAbsJ/i {_rl_speed}" projects/target/_build/brake/main.mod; ' + cmd += 'sudo sed -i "/VelSet/d" projects/target/_build/brake/main.mod; ' + cmd += f'sudo sed -i "/MoveAbsJ/i {_rl_speed}" projects/target/_build/brake/main.mod' stdin, stdout, stderr = ssh.exec_command(cmd, get_pty=True) stdin.write('luoshi2019' + '\n') stdin.flush() @@ -233,7 +240,7 @@ def run_rl(path, loadsel, hr, md, config_file, prj_file, result_dirs, w2t): if count == 1: _response = execution('diagnosis.open', hr, w2t, open=True, display_open=True) _response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params) - sleep(8) # 前八秒获取实际最大速度 + sleep(10) # 前10秒获取实际最大速度 md.trigger_estop() _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False) @@ -277,7 +284,7 @@ def run_rl(path, loadsel, hr, md, config_file, prj_file, result_dirs, w2t): _response = execution('diagnosis.open', hr, w2t, open=True, display_open=True) _response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params) - # sleep(randint(3, 6)) + sleep(randint(3, 6)) md.write_probe(True) _t_start = time() while True: @@ -288,8 +295,12 @@ def run_rl(path, loadsel, hr, md, config_file, prj_file, result_dirs, w2t): sleep(1) # 保证所有数据均已返回 break else: - if (time() - _t_start) // 60 > 1: - w2t(f"规定时间内未找到合适的点触发急停，需要确认RL/Python程序编写正确并正常执行...", 0, 111, 'red', 'Automatic Test') + if (time() - _t_start) > 30: + w2t(f"30s内未触发急停，该条数据无效，需要确认RL/Python程序编写正确并正常执行，或者判别是否是机器本体问题...", 0, 0, 'red', 'Automatic Test') + md.write_probe(False) + _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False) + sleep(1) # 保证所有数据均已返回 + break else: sleep(1) diff --git a/aio/code/automatic_test/openapi.py b/aio/code/automatic_test/openapi.py index 703e9c7..f688694 100644 --- a/aio/code/automatic_test/openapi.py +++ b/aio/code/automatic_test/openapi.py @@ -1,4 +1,4 @@ -from json import load, dumps, loads +from json import load, dumps from socket import socket, setdefaulttimeout, AF_INET, SOCK_STREAM from threading import Thread import selectors @@ -14,10 +14,10 @@ current_path = dirname(__file__) class ModbusRequest(object): - def __init__(self, w2t, tab_name): + def __init__(self, w2t): super().__init__() self.w2t = w2t - self.tab_name = tab_name + self.tab_name = 'openapi' self.host = '192.168.0.160' self.port = 502 self.c = ModbusTcpClient(self.host, self.port) @@ -167,6 +167,13 @@ class ModbusRequest(object): self.w2t(f"{Err}") self.w2t("无法写入速度探测信号，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name) + def write_pon(self, pon): # positive or negative + try: + self.c.write_register(41011, pon) + except Exception as Err: + self.w2t(f"{Err}") + self.w2t("无法写入正负方向信号，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name) + class HmiRequest(object): def __init__(self, w2t): @@ -182,7 +189,7 @@ class HmiRequest(object): self.flag_xs = 0 self.response_xs = '' self.t_bool = True - self.tab_name = 'Automatic Test' + self.tab_name = 'openapi' self.pkg_size = 0 self.broke = 0 self.half = 0 @@ -219,7 +226,7 @@ class HmiRequest(object): self.w2t("Connection success", 0, 0, 'green', tab_name=self.tab_name) with open(f"{current_path}/../../assets/templates/heartbeat", "w", encoding='utf-8') as f_hb: f_hb.write('1') - md = ModbusRequest(self.w2t, self.tab_name) + md = ModbusRequest(self.w2t) md.reset_estop() md.clear_alarm() md.write_act(False) From a66a55bcd3f6fda39077cd4996cdc729550d21d6 Mon Sep 17 00:00:00 2001 From: gitea Date: Sat, 13 Jul 2024 11:36:35 +0800 Subject: [PATCH 3/9] =?UTF-8?q?v0.1.9.2(2024/07/13)=201.=20[APIs:=20do=5Fb?= =?UTF-8?q?rake.py]=20=20=20=20-=20=E4=BF=AE=E6=94=B9ready=5Fto=5Fgo?= =?UTF-8?q?=E4=BF=A1=E5=8F=B7=E7=9A=84=E6=8E=A5=E6=94=B6=E9=80=BB=E8=BE=91?= =?UTF-8?q?=EF=BC=8C=E9=80=82=E9=85=8D=E5=A4=A7=E8=B4=9F=E8=BD=BD=E6=9C=BA?= =?UTF-8?q?=E5=9E=8B=202.=20[APIs:=20do=5Fcurrent.py]=20=20=20=20-=20?= =?UTF-8?q?=E4=BF=AE=E6=94=B9ready=5Fto=5Fgo=E4=BF=A1=E5=8F=B7=E7=9A=84?= =?UTF-8?q?=E6=8E=A5=E6=94=B6=E9=80=BB=E8=BE=91=EF=BC=8C=E9=80=82=E9=85=8D?= =?UTF-8?q?=E5=A4=A7=E8=B4=9F=E8=BD=BD=E6=9C=BA=E5=9E=8B=20=20=20=20-=20?= =?UTF-8?q?=E8=B0=83=E6=95=B4=E5=8D=95=E8=BD=B4=E6=B5=8B=E8=AF=95=E6=97=B6?= =?UTF-8?q?=E9=97=B4=E4=B8=BA35s=EF=BC=8C=E9=80=82=E9=85=8D=E5=A4=A7?= =?UTF-8?q?=E8=B4=9F=E8=BD=BD=E6=9C=BA=E5=9E=8B=EF=BC=8C=E8=B0=83=E6=95=B4?= =?UTF-8?q?=E5=A0=B5=E8=BD=AC=E7=94=B5=E6=B5=81=E6=8C=81=E7=BB=AD=E6=97=B6?= =?UTF-8?q?=E9=97=B415s=EF=BC=8C=E9=80=82=E5=BD=93=E5=87=8F=E5=B0=91?= =?UTF-8?q?=E6=B5=8B=E8=AF=95=E6=97=B6=E9=97=B4=20=20=20=20-=20=E5=B0=86ac?= =?UTF-8?q?t=E4=BF=A1=E5=8F=B7=E7=BD=AE=E4=B8=BAFalse=E7=9A=84=E5=8A=A8?= =?UTF-8?q?=E4=BD=9C=E6=94=BE=E5=9C=A8=E5=88=9D=E5=A7=8B=E5=8C=96=EF=BC=8C?= =?UTF-8?q?=E5=A2=9E=E5=8A=A0=E7=A8=8B=E5=BA=8F=E5=81=A5=E5=A3=AE=E6=80=A7?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- aio/README.md | 13 ++++++++++++- aio/code/automatic_test/do_brake.py | 11 ++++++----- aio/code/automatic_test/do_current.py | 20 ++++++++++++-------- 3 files changed, 30 insertions(+), 14 deletions(-) diff --git a/aio/README.md b/aio/README.md index ba2820e..2e2c652 100644 --- a/aio/README.md +++ b/aio/README.md @@ -132,7 +132,7 @@ pyinstaller --noconfirm --onedir --windowed --add-data "C:/Users/Administrator/A > **需要注意的点** -1. 使用之前需要手动修改!!负载信息!!点位信息!!，确保所有点位不会发生撞击之后，再进行自动化测试 +1. 【重要】使用之前需要手动修改!!负载信息!!点位信息!!，确保所有点位不会发生撞击，确保所有程序正常运行之后，导出工程，再进行自动化测试 2. 工程文件不能手动重命名，需要重命名存档，可以导入HMI，然后另存为 3. 务必正确填写configs.xlsx中的Target页面，A1单元格可以选择正负方向急停，但不完全保证100%，大概有95%左右的准确度 4. 由于xCore系统问题，运行过程中可能会出现机器人宕机问题，如果遇到，可以手动重启控制柜，重新运行 @@ -140,6 +140,8 @@ pyinstaller --noconfirm --onedir --windowed --add-data "C:/Users/Administrator/A 6. 运行自动化程序之前，确保机器处于正常状态，无故障，未触发急停 7. 需要额外硬件接线，详细参考configs.xlsx中急停接线图sheet页 8. 注意观察二轴100%臂展时，是否可以获取到正确的数据 +9. 将autotest.xml导入到寄存器，并新建一个modbus，命名为autotest +10. 针对五轴机型，六轴数据可以填写1-5轴任意一轴的点位信息 #### 6) 电机电流自动化测试 @@ -462,3 +464,12 @@ v0.1.9.1(2024/07/12) 3. [APIs: openapi.py] - modbus类新增指示政府方向急停的信号pon，将modbus类入参中的tab_name删除，并修改tab_name的值为'openapi' - socket类种修改tab_name的值为'openapi' + +v0.1.9.2(2024/07/13) +1. [APIs: do_brake.py] + - 修改ready_to_go信号的接收逻辑，适配大负载机型 +2. [APIs: do_current.py] + - 修改ready_to_go信号的接收逻辑，适配大负载机型 + - 调整单轴测试时间为35s，适配大负载机型，调整堵转电流持续时间15s，适当减少测试时间 + - 将act信号置为False的动作放在初始化，增加程序健壮性 + diff --git a/aio/code/automatic_test/do_brake.py b/aio/code/automatic_test/do_brake.py index 171310b..b937264 100644 --- a/aio/code/automatic_test/do_brake.py +++ b/aio/code/automatic_test/do_brake.py @@ -227,15 +227,16 @@ def run_rl(path, loadsel, hr, md, config_file, prj_file, result_dirs, w2t): _response = execution('state.switch_auto', hr, w2t) _response = execution('state.switch_motor_on', hr, w2t) _response = execution('rl_task.run', hr, w2t, tasks=['brake', 'stop0_related']) - for i in range(3): + _t_start = time() + while True: if md.read_ready_to_go() == 1: md.write_act(True) break else: - sleep(1) - else: - w2t("未收到机器人的运行信号，需要确认RL程序编写正确并正常执行...", 0, 111, 'red', 'Automatic Test') - + if (time() - _t_start) // 20 > 1: + w2t("20s内未收到机器人的运行信号，需要确认RL程序编写正确并正常执行...", 0, 111, 'red', 'Automatic Test') + else: + sleep(1) # 4. 第一次打开诊断曲线，并执行采集8s，之后触发软急停，关闭曲线采集，找出最大速度，传递给RL程序，最后清除相关记录 if count == 1: _response = execution('diagnosis.open', hr, w2t, open=True, display_open=True) diff --git a/aio/code/automatic_test/do_current.py b/aio/code/automatic_test/do_current.py index 8c81968..f57caf9 100644 --- a/aio/code/automatic_test/do_current.py +++ b/aio/code/automatic_test/do_current.py @@ -308,6 +308,8 @@ def run_rl(path, hr, md, loadsel, w2t): _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False) md.trigger_estop() md.reset_estop() + md.write_act(False) + sleep(1) # 让曲线彻底关闭 _response = execution('state.switch_manual', hr, w2t) _response = execution('state.switch_motor_off', hr, w2t) @@ -334,19 +336,19 @@ def run_rl(path, hr, md, loadsel, w2t): # 4. 开始运行程序，单轴运行15s _response = execution('rl_task.run', hr, w2t, tasks=['current']) - for i in range(3): + _t_start = time() + while True: if md.read_ready_to_go() == 1: md.write_act(True) - sleep(1) - md.write_act(False) break else: - sleep(1) - else: - w2t("未收到机器人的运行信号，需要确认RL程序编写正确并正常执行...", 0, 111, 'red', 'Automatic Test') + if (time() - _t_start) // 20 > 1: + w2t("20s内未收到机器人的运行信号，需要确认RL程序编写正确并正常执行...", 0, 111, 'red', 'Automatic Test') + else: + sleep(1) # 5. 打开诊断曲线，并执行采集 - sleep(7) # 保证程序已经运行起来，其实主要是为了保持电流的采集而设定 + sleep(10) # 保证程序已经运行起来，其实主要是为了保持电流的采集而设定 _response = execution('diagnosis.open', hr, w2t, open=True, display_open=True) display_pdo_params = [ {"name": "hw_joint_vel_feedback", "channel": 0}, @@ -365,7 +367,9 @@ def run_rl(path, hr, md, loadsel, w2t): ] _response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params) scenario_time = 0 - if number < 6 or number > 8: + if number < 6: + sleep(35) + elif number > 8: sleep(15) else: _t_start = time() From d76ee3d223f21e93594f6e05e50458f84fdf3ecb Mon Sep 17 00:00:00 2001 From: gitea Date: Sat, 13 Jul 2024 13:40:04 +0800 Subject: [PATCH 4/9] =?UTF-8?q?1.=20[APIs:=20do=5Fbrake.py]=20=20=20=20-?= =?UTF-8?q?=20=E4=BF=AE=E6=94=B9ready=5Fto=5Fgo=E4=BF=A1=E5=8F=B7=E7=9A=84?= =?UTF-8?q?=E6=8E=A5=E6=94=B6=E9=80=BB=E8=BE=91=EF=BC=8C=E9=80=82=E9=85=8D?= =?UTF-8?q?=E5=A4=A7=E8=B4=9F=E8=BD=BD=E6=9C=BA=E5=9E=8B=202.=20[APIs:=20d?= =?UTF-8?q?o=5Fcurrent.py]=20=20=20=20-=20=E4=BF=AE=E6=94=B9ready=5Fto=5Fg?= =?UTF-8?q?o=E4=BF=A1=E5=8F=B7=E7=9A=84=E6=8E=A5=E6=94=B6=E9=80=BB?= =?UTF-8?q?=E8=BE=91=EF=BC=8C=E9=80=82=E9=85=8D=E5=A4=A7=E8=B4=9F=E8=BD=BD?= =?UTF-8?q?=E6=9C=BA=E5=9E=8B=20=20=20=20-=20=E8=B0=83=E6=95=B4=E5=8D=95?= =?UTF-8?q?=E8=BD=B4=E6=B5=8B=E8=AF=95=E6=97=B6=E9=97=B4=E4=B8=BA35s?= =?UTF-8?q?=EF=BC=8C=E9=80=82=E9=85=8D=E5=A4=A7=E8=B4=9F=E8=BD=BD=E6=9C=BA?= =?UTF-8?q?=E5=9E=8B=EF=BC=8C=E8=B0=83=E6=95=B4=E5=A0=B5=E8=BD=AC=E7=94=B5?= =?UTF-8?q?=E6=B5=81=E6=8C=81=E7=BB=AD=E6=97=B6=E9=97=B415s=EF=BC=8C?= =?UTF-8?q?=E9=80=82=E5=BD=93=E5=87=8F=E5=B0=91=E6=B5=8B=E8=AF=95=E6=97=B6?= =?UTF-8?q?=E9=97=B4=20=20=20=20-=20=E5=B0=86act=E4=BF=A1=E5=8F=B7?= =?UTF-8?q?=E7=BD=AE=E4=B8=BAFalse=E7=9A=84=E5=8A=A8=E4=BD=9C=E6=94=BE?= =?UTF-8?q?=E5=9C=A8=E5=88=9D=E5=A7=8B=E5=8C=96=EF=BC=8C=E5=A2=9E=E5=8A=A0?= =?UTF-8?q?=E7=A8=8B=E5=BA=8F=E5=81=A5=E5=A3=AE=E6=80=A7=20=20=20=20-=20?= =?UTF-8?q?=E4=BF=AE=E6=94=B9=E6=89=80=E6=9C=89=E8=BE=93=E5=87=BA=E6=96=87?= =?UTF-8?q?=E4=BB=B6=E7=9A=84=E5=91=BD=E5=90=8D=EF=BC=8C=E5=9C=A8=E6=89=A9?= =?UTF-8?q?=E5=B1=95=E5=90=8D=E4=B9=8B=E5=89=8D=E5=8A=A0=E5=85=A5=E6=97=B6?= =?UTF-8?q?=E9=97=B4=E6=88=B3?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- aio/README.md | 2 ++ aio/assets/file_version_info.txt | 8 ++++---- aio/assets/vers | 2 +- aio/code/automatic_test/do_current.py | 18 +++++++++--------- aio/code/data_process/current.py | 6 ++++-- 5 files changed, 20 insertions(+), 16 deletions(-) diff --git a/aio/README.md b/aio/README.md index 2e2c652..47d4631 100644 --- a/aio/README.md +++ b/aio/README.md @@ -472,4 +472,6 @@ v0.1.9.2(2024/07/13) - 修改ready_to_go信号的接收逻辑，适配大负载机型 - 调整单轴测试时间为35s，适配大负载机型，调整堵转电流持续时间15s，适当减少测试时间 - 将act信号置为False的动作放在初始化，增加程序健壮性 + - 修改所有输出文件的命名，在扩展名之前加入时间戳 +3. [current: current.py]: 在find_point函数种，当无法找到正确点位时，继续执行，而不是直接终止执行 diff --git a/aio/assets/file_version_info.txt b/aio/assets/file_version_info.txt index ca423d4..5f58e11 100644 --- a/aio/assets/file_version_info.txt +++ b/aio/assets/file_version_info.txt @@ -6,8 +6,8 @@ VSVersionInfo( ffi=FixedFileInfo( # filevers and prodvers should be always a tuple with four items: (1, 2, 3, 4) # Set not needed items to zero 0. - filevers=(0, 1, 9, 1), - prodvers=(0, 1, 9, 1), + filevers=(0, 1, 9, 2), + prodvers=(0, 1, 9, 2), # Contains a bitmask that specifies the valid bits 'flags'r mask=0x3f, # Contains a bitmask that specifies the Boolean attributes of the file. @@ -31,12 +31,12 @@ VSVersionInfo( '040904b0', [StringStruct('CompanyName', 'Rokae - https://www.rokae.com/'), StringStruct('FileDescription', 'All in one automatic toolbox'), - StringStruct('FileVersion', '0.1.9.1 (2024-07-12)'), + StringStruct('FileVersion', '0.1.9.2 (2024-07-13)'), StringStruct('InternalName', 'AIO.exe'), StringStruct('LegalCopyright', '© 2024-2024 Manford Fan'), StringStruct('OriginalFilename', 'AIO.exe'), StringStruct('ProductName', 'AIO'), - StringStruct('ProductVersion', '0.1.9.1 (2024-07-12)')]) + StringStruct('ProductVersion', '0.1.9.2 (2024-07-13)')]) ]), VarFileInfo([VarStruct('Translation', [1033, 1200])]) ] diff --git a/aio/assets/vers b/aio/assets/vers index 282634a..ea80ca6 100644 --- a/aio/assets/vers +++ b/aio/assets/vers @@ -1 +1 @@ -0.1.9.1 @ 07/12/2024 \ No newline at end of file +0.1.9.2 @ 07/13/2024 \ No newline at end of file diff --git a/aio/code/automatic_test/do_current.py b/aio/code/automatic_test/do_current.py index f57caf9..583f7ae 100644 --- a/aio/code/automatic_test/do_current.py +++ b/aio/code/automatic_test/do_current.py @@ -129,7 +129,7 @@ def data_proc_regular(path, filename, channel, scenario_time): df1 = pandas.DataFrame.from_dict(_d2d_vel) df2 = pandas.DataFrame.from_dict(_d2d_trq) df = pandas.concat([df1, df2], axis=1) - _filename = f'{path}\\single\\j{channel+1}_single.data' + _filename = f'{path}\\single\\j{channel+1}_single_{time()}.data' df.to_csv(_filename, sep='\t', index=False) elif channel in list(range(6, 9)): with open(filename, 'r', encoding='utf-8') as f_obj: @@ -178,37 +178,37 @@ def data_proc_regular(path, filename, channel, scenario_time): df_01 = pandas.DataFrame.from_dict(_d2d_vel_0) df_02 = pandas.DataFrame.from_dict(_d2d_trq_0) df = pandas.concat([df_01, df_02], axis=1) - _filename = f'{path}\\s_{channel-5}\\j1_s_{channel-5}_{scenario_time}.data' + _filename = f'{path}\\s_{channel-5}\\j1_s_{channel-5}_{scenario_time}_{time()}.data' df.to_csv(_filename, sep='\t', index=False) df_01 = pandas.DataFrame.from_dict(_d2d_vel_1) df_02 = pandas.DataFrame.from_dict(_d2d_trq_1) df = pandas.concat([df_01, df_02], axis=1) - _filename = f'{path}\\s_{channel-5}\\j2_s_{channel-5}_{scenario_time}.data' + _filename = f'{path}\\s_{channel-5}\\j2_s_{channel-5}_{scenario_time}_{time()}.data' df.to_csv(_filename, sep='\t', index=False) df_01 = pandas.DataFrame.from_dict(_d2d_vel_2) df_02 = pandas.DataFrame.from_dict(_d2d_trq_2) df = pandas.concat([df_01, df_02], axis=1) - _filename = f'{path}\\s_{channel-5}\\j3_s_{channel-5}_{scenario_time}.data' + _filename = f'{path}\\s_{channel-5}\\j3_s_{channel-5}_{scenario_time}_{time()}.data' df.to_csv(_filename, sep='\t', index=False) df_01 = pandas.DataFrame.from_dict(_d2d_vel_3) df_02 = pandas.DataFrame.from_dict(_d2d_trq_3) df = pandas.concat([df_01, df_02], axis=1) - _filename = f'{path}\\s_{channel-5}\\j4_s_{channel-5}_{scenario_time}.data' + _filename = f'{path}\\s_{channel-5}\\j4_s_{channel-5}_{scenario_time}_{time()}.data' df.to_csv(_filename, sep='\t', index=False) df_01 = pandas.DataFrame.from_dict(_d2d_vel_4) df_02 = pandas.DataFrame.from_dict(_d2d_trq_4) df = pandas.concat([df_01, df_02], axis=1) - _filename = f'{path}\\s_{channel-5}\\j5_s_{channel-5}_{scenario_time}.data' + _filename = f'{path}\\s_{channel-5}\\j5_s_{channel-5}_{scenario_time}_{time()}.data' df.to_csv(_filename, sep='\t', index=False) df_01 = pandas.DataFrame.from_dict(_d2d_vel_5) df_02 = pandas.DataFrame.from_dict(_d2d_trq_5) df = pandas.concat([df_01, df_02], axis=1) - _filename = f'{path}\\s_{channel-5}\\j6_s_{channel-5}_{scenario_time}.data' + _filename = f'{path}\\s_{channel-5}\\j6_s_{channel-5}_{scenario_time}_{time()}.data' df.to_csv(_filename, sep='\t', index=False) elif channel in list(range(9, 15)): with open(filename, 'r', encoding='utf-8') as f_obj: @@ -227,7 +227,7 @@ def data_proc_regular(path, filename, channel, scenario_time): df1 = pandas.DataFrame.from_dict(_d2d_vel) df2 = pandas.DataFrame.from_dict(_d2d_trq) df = pandas.concat([df1, df2], axis=1) - _filename = f'{path}\\single\\j{channel-8}_hold.data' + _filename = f'{path}\\single\\j{channel-8}_hold_{time()}.data' df.to_csv(_filename, sep='\t', index=False) @@ -248,7 +248,7 @@ def data_proc_inertia(path, filename, channel): df1 = pandas.DataFrame.from_dict(_d2d_vel) df2 = pandas.DataFrame.from_dict(_d2d_trq) df = pandas.concat([df1, df2], axis=1) - _filename = f'{path}\\inertia\\j{channel+4}_inertia.data' + _filename = f'{path}\\inertia\\j{channel+4}_inertia_{time()}.data' df.to_csv(_filename, sep='\t', index=False) diff --git a/aio/code/data_process/current.py b/aio/code/data_process/current.py index 0fd3234..b7cd024 100644 --- a/aio/code/data_process/current.py +++ b/aio/code/data_process/current.py @@ -223,7 +223,8 @@ def find_point(data_file, pos, flag, df, _row_s, _row_e, w2t, exitcode, threshol else: return _row_s, _row_e else: - w2t(f"[{pos}] {data_file}数据有误，需要检查，无法找到第{exitcode}个有效点...", 0, exitcode, 'red') + # w2t(f"[{pos}] {data_file}数据有误，需要检查，无法找到第{exitcode}个有效点...", 0, exitcode, 'red') + w2t(f"[{pos}] {data_file}数据有误，需要检查，无法找到第{exitcode}个有效点...", 0, 0, 'red') elif flag == 'gt': while _row_e > end_point: speed_avg = df.iloc[_row_s:_row_e, 0].abs().mean() @@ -234,7 +235,8 @@ def find_point(data_file, pos, flag, df, _row_s, _row_e, w2t, exitcode, threshol else: return _row_s, _row_e else: - w2t(f"[{pos}] {data_file}数据有误，需要检查，无法找到有效起始点或结束点...", 0, exitcode, 'red') + # w2t(f"[{pos}] {data_file}数据有误，需要检查，无法找到有效起始点或结束点...", 0, exitcode, 'red') + w2t(f"[{pos}] {data_file}数据有误，需要检查，无法找到有效起始点或结束点...", 0, 0, 'red') def p_single(wb, single, vel, trq, rpms, w2t): From 718db9ec45508848fcee66c09ba8cfb45ce84fa6 Mon Sep 17 00:00:00 2001 From: gitea Date: Sat, 13 Jul 2024 13:43:51 +0800 Subject: [PATCH 5/9] change version --- aio/code/aio.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/aio/code/aio.py b/aio/code/aio.py index adfeca2..094f2b2 100644 --- a/aio/code/aio.py +++ b/aio/code/aio.py @@ -70,7 +70,7 @@ class App(customtkinter.CTk): btns_func['log']['btn'].configure(command=lambda: self.thread_it(self.func_log_callback)) btns_func['end']['btn'].configure(command=lambda: self.thread_it(self.func_end_callback)) # create version info - self.label_version = customtkinter.CTkLabel(self.frame_func, justify='left', text="Vers: 0.1.9.1\nDate: 07/12/2024", font=self.my_font, text_color="#4F4F4F") + self.label_version = customtkinter.CTkLabel(self.frame_func, justify='left', text="Vers: 0.1.9.2\nDate: 07/13/2024", font=self.my_font, text_color="#4F4F4F") self.frame_func.rowconfigure(6, weight=1) self.label_version.grid(row=6, column=0, padx=20, pady=20, sticky='s') # ===================================================================== From d35858e14eb174cd2f4f90b57b058a0ccc3466cc Mon Sep 17 00:00:00 2001 From: gitea Date: Sat, 13 Jul 2024 15:40:13 +0800 Subject: [PATCH 6/9] =?UTF-8?q?v0.1.9.2(2024/07/13)=201.=20[APIs:=20do=5Fc?= =?UTF-8?q?urrent.py]=20=20=20=20-=20=E5=88=A0=E9=99=A4=E5=A4=9A=E4=BD=99?= =?UTF-8?q?=E7=9A=84=E6=97=B6=E5=BA=8F=E7=9F=AB=E6=AD=A3=E8=AF=AD=E5=8F=A5?= =?UTF-8?q?=E2=80=94=E2=80=94item['value'].reverse()=EF=BC=8C=E4=BD=BF?= =?UTF-8?q?=E8=BE=93=E5=87=BA=E7=9A=84=E6=9B=B2=E7=BA=BF=E4=B8=BA=E5=B9=B3?= =?UTF-8?q?=E6=BB=91=E7=9A=84=E8=87=AA=E7=84=B6=E9=A1=BA=E5=BA=8F=202.=20[?= =?UTF-8?q?current:=20current.py]=20=20=20=20-=20max=E5=8A=9F=E8=83=BD?= =?UTF-8?q?=E8=AE=A1=E7=AE=97=E9=80=BB=E8=BE=91=E7=9F=AB=E6=AD=A3=EF=BC=8C?= =?UTF-8?q?=E5=BA=94=E8=AF=A5=E6=98=AF=E5=8F=96=E7=BB=9D=E5=AF=B9=E5=80=BC?= =?UTF-8?q?=E7=9A=84=E6=9C=80=E5=A4=A7=E5=80=BC=20=20=20=20-=20=E6=95=B4?= =?UTF-8?q?=E4=BD=93=E6=A2=B3=E7=90=86=E4=BA=86trq/trqh=E7=9A=84=E4=BC=A0?= =?UTF-8?q?=E9=80=92=E8=B7=AF=E5=BE=84=EF=BC=8C=E7=8E=B0=E5=B7=B2=E4=BF=AE?= =?UTF-8?q?=E6=AD=A3=E5=AE=8C=E6=AF=95?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- aio/README.md | 6 +++++- aio/code/automatic_test/do_current.py | 2 -- aio/code/data_process/current.py | 20 +++++++++----------- 3 files changed, 14 insertions(+), 14 deletions(-) diff --git a/aio/README.md b/aio/README.md index 47d4631..c367c30 100644 --- a/aio/README.md +++ b/aio/README.md @@ -473,5 +473,9 @@ v0.1.9.2(2024/07/13) - 调整单轴测试时间为35s，适配大负载机型，调整堵转电流持续时间15s，适当减少测试时间 - 将act信号置为False的动作放在初始化，增加程序健壮性 - 修改所有输出文件的命名，在扩展名之前加入时间戳 -3. [current: current.py]: 在find_point函数种，当无法找到正确点位时，继续执行，而不是直接终止执行 + - 删除多余的时序矫正语句——item['value'].reverse()，使输出的曲线为平滑的自然顺序 +3. [current: current.py] + - 在find_point函数种，当无法找到正确点位时，继续执行，而不是直接终止执行 + - max功能计算逻辑矫正，应该是取绝对值的最大值 + - 整体梳理了trq/trqh的传递路径，现已修正完毕 diff --git a/aio/code/automatic_test/do_current.py b/aio/code/automatic_test/do_current.py index 583f7ae..245fe0f 100644 --- a/aio/code/automatic_test/do_current.py +++ b/aio/code/automatic_test/do_current.py @@ -120,10 +120,8 @@ def data_proc_regular(path, filename, channel, scenario_time): for item in data: item['value'].reverse() if item.get('channel', None) == channel and item.get('name', None) == 'hw_joint_vel_feedback': - item['value'].reverse() _d2d_vel['hw_joint_vel_feedback'].extend(item['value']) elif item.get('channel', None) == channel and item.get('name', None) == 'device_servo_trq_feedback': - item['value'].reverse() _d2d_trq['device_servo_trq_feedback'].extend(item['value']) df1 = pandas.DataFrame.from_dict(_d2d_vel) diff --git a/aio/code/data_process/current.py b/aio/code/data_process/current.py index b7cd024..cef7a6b 100644 --- a/aio/code/data_process/current.py +++ b/aio/code/data_process/current.py @@ -79,7 +79,7 @@ def initialization(path, sub, w2t): return data_files -def current_max(data_files, rcs, trqh, w2t): +def current_max(data_files, rcs, trq, w2t): current = {1: [], 2: [], 3: [], 4: [], 5: [], 6: [], 7: []} for data_file in data_files: if data_file.endswith('.data'): @@ -93,8 +93,8 @@ def current_max(data_files, rcs, trqh, w2t): axis = int(data_file.split('\\')[-1].split('_')[0].removeprefix('j')) rca = rcs[axis-1] - col = df.columns.values[trqh-1] - c_max = df[col].max() + col = df.columns.values[trq-1] + c_max = df[col].abs().max() scale = 1 if data_file.endswith('.csv') else 1000 _ = abs(c_max/scale*rca) @@ -118,7 +118,7 @@ def current_max(data_files, rcs, trqh, w2t): return current -def current_avg(data_files, rcs, trqh, w2t): +def current_avg(data_files, rcs, trq, w2t): current = {1: [], 2: [], 3: [], 4: [], 5: [], 6: [], 7: []} for data_file in data_files: if data_file.endswith('.data'): @@ -132,7 +132,7 @@ def current_avg(data_files, rcs, trqh, w2t): axis = int(data_file.split('\\')[-1].split('_')[0].removeprefix('j')) rca = rcs[axis-1] - col = df.columns.values[trqh - 1] + col = df.columns.values[trq-1] c_std = df[col].std() c_avg = df[col].mean() @@ -223,8 +223,7 @@ def find_point(data_file, pos, flag, df, _row_s, _row_e, w2t, exitcode, threshol else: return _row_s, _row_e else: - # w2t(f"[{pos}] {data_file}数据有误，需要检查，无法找到第{exitcode}个有效点...", 0, exitcode, 'red') - w2t(f"[{pos}] {data_file}数据有误，需要检查，无法找到第{exitcode}个有效点...", 0, 0, 'red') + w2t(f"[{pos}] {data_file}数据有误，需要检查，无法找到第{exitcode}个有效点...", 0, exitcode, 'red') elif flag == 'gt': while _row_e > end_point: speed_avg = df.iloc[_row_s:_row_e, 0].abs().mean() @@ -235,8 +234,7 @@ def find_point(data_file, pos, flag, df, _row_s, _row_e, w2t, exitcode, threshol else: return _row_s, _row_e else: - # w2t(f"[{pos}] {data_file}数据有误，需要检查，无法找到有效起始点或结束点...", 0, exitcode, 'red') - w2t(f"[{pos}] {data_file}数据有误，需要检查，无法找到有效起始点或结束点...", 0, 0, 'red') + w2t(f"[{pos}] {data_file}数据有误，需要检查，无法找到有效起始点或结束点...", 0, exitcode, 'red') def p_single(wb, single, vel, trq, rpms, w2t): @@ -395,9 +393,9 @@ def main(path, sub, dur, vel, trq, trqh, w2t): data_files = initialization(path, sub, w2t) rpms, rcs = get_configs(path + '\\configs.xlsx', w2t) if sub == 'max': - current_max(data_files, rcs, trqh, w2t) + current_max(data_files, rcs, trq, w2t) elif sub == 'avg': - current_avg(data_files, rcs, trqh, w2t) + current_avg(data_files, rcs, trq, w2t) elif sub == 'cycle': current_cycle(dur, data_files, rcs, vel, trq, trqh, rpms, w2t) else: From 485dffdd0b235a7787646bea260a4bb5ff1dd744 Mon Sep 17 00:00:00 2001 From: gitea Date: Sat, 13 Jul 2024 16:43:56 +0800 Subject: [PATCH 7/9] =?UTF-8?q?=20=20=20-=20=E5=87=8F=E9=80=9F=E6=AF=94rr?= =?UTF-8?q?=E6=95=B0=E6=8D=AE=E6=BA=90=E4=BF=AE=E6=94=B9=E4=B8=BAconfigs.x?= =?UTF-8?q?lsx=204.=20=E5=9C=A8current=E5=B7=A5=E7=A8=8Bmain=E5=87=BD?= =?UTF-8?q?=E6=95=B0=E5=A2=9E=E5=8A=A0=20VelSet=20100=E8=AF=AD=E5=8F=A5?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- aio/README.md | 1 + aio/assets/configs.xlsx | Bin 226161 -> 226189 bytes aio/assets/target.zip | Bin 26230 -> 26247 bytes aio/code/data_process/current.py | 27 +++++++++++++++++---------- 4 files changed, 18 insertions(+), 10 deletions(-) diff --git a/aio/README.md b/aio/README.md index c367c30..60b6375 100644 --- a/aio/README.md +++ b/aio/README.md @@ -478,4 +478,5 @@ v0.1.9.2(2024/07/13) - 在find_point函数种，当无法找到正确点位时，继续执行，而不是直接终止执行 - max功能计算逻辑矫正，应该是取绝对值的最大值 - 整体梳理了trq/trqh的传递路径，现已修正完毕 + - 减速比rr数据源修改为configs.xlsx diff --git a/aio/assets/configs.xlsx b/aio/assets/configs.xlsx index e591d4c42a4a4389b655ecc44c26f0988e96652c..23e3fd2b910f41ccd9bd708d89ff5386c895109c 100644 GIT binary patch delta 3987 zcmY*c2Qb|0*Is^z-iZ=jHll=O^&TO5@6jb}!m@fvSuIK~BHFTu-bM5!2%?i%tA`-S 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=?UTF-8?q?=E6=95=B0=E5=A2=9E=E5=8A=A0=20VelSet=20100=E8=AF=AD=E5=8F=A5?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- aio/README.md | 3 ++- aio/assets/configs.xlsx | Bin 226161 -> 226189 bytes aio/assets/target.zip | Bin 26230 -> 26247 bytes aio/code/data_process/current.py | 27 +++++++++++++++++---------- 4 files changed, 19 insertions(+), 11 deletions(-) diff --git a/aio/README.md b/aio/README.md index c367c30..b5e70d6 100644 --- a/aio/README.md +++ b/aio/README.md @@ -478,4 +478,5 @@ v0.1.9.2(2024/07/13) - 在find_point函数种，当无法找到正确点位时，继续执行，而不是直接终止执行 - max功能计算逻辑矫正，应该是取绝对值的最大值 - 整体梳理了trq/trqh的传递路径，现已修正完毕 - + - 减速比rr数据源修改为configs.xlsx +4. 在current工程main函数增加 VelSet 100语句 diff --git a/aio/assets/configs.xlsx b/aio/assets/configs.xlsx index e591d4c42a4a4389b655ecc44c26f0988e96652c..23e3fd2b910f41ccd9bd708d89ff5386c895109c 100644 GIT binary patch delta 3987 zcmY*c2Qb|0*Is^z-iZ=jHll=O^&TO5@6jb}!m@fvSuIK~BHFTu-bM5!2%?i%tA`-S 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