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优化了制动和电机电流自动测试代码

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gitea
2025-01-18 12:33:29 +08:00
parent 46ce714462
commit 7f815ac63e
7 changed files with 147 additions and 246 deletions
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15
code/automatic_test/do_current.py
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@@ -121,9 +121,14 @@ def gen_result_file(path, number, start_time, end_time, scenario_time):
p.start()
def change_curve_state(hr, stat_1, stat_2):
display_pdo_params = [{"name": name, "channel": chl} for name in ["hw_joint_vel_feedback", "device_servo_trq_feedback", "hw_sensor_trq_feedback"] for chl in range(6)]
hr.execution("diagnosis.open", open=stat_1, display_open=stat_2, overrun=True, turn_area=True, delay_motion=False)
hr.execution("diagnosis.set_params", display_pdo_params=display_pdo_params, frequency=50, version="1.4.1")
def run_rl(path, prj_file, hr, md, sub, w2t):
prj_name = prj_file.split("/")[-1].split(".")[0]
display_pdo_params = [{"name": name, "channel": chl} for name in ["hw_joint_vel_feedback", "device_servo_trq_feedback", "hw_sensor_trq_feedback"] for chl in range(6)]
c_regular = [
"scenario(0, j1_p, j1_n, p_speed, p_tool, i_tool)",
"scenario(0, j2_p, j2_n, p_speed, p_tool, i_tool)",
@@ -155,8 +160,6 @@ def run_rl(path, prj_file, hr, md, sub, w2t):
conditions, disc = c_inertia, disc_inertia
# 打开诊断曲线，触发软急停，并解除，目的是让可能正在运行着的机器停下来
hr.execution("diagnosis.open", open=True, display_open=True, overrun=True, turn_area=True, delay_motion=False)
hr.execution("diagnosis.set_params", display_pdo_params=display_pdo_params, frequency=50, version="1.4.1")
md.r_soft_estop(0)
md.r_soft_estop(1)
md.r_clear_alarm()
@@ -200,6 +203,7 @@ def run_rl(path, prj_file, hr, md, sub, w2t):
# 4. 执行采集
time.sleep(10) # 消除前 10s 的不稳定数据
change_curve_state(hr, True, True)
start_time = time.strftime("%Y-%m-%d %H:%M:%S", time.localtime(time.time()))
single_time, stall_time, scenario_time = 40, 10, 0
if number < 6: # 单轴
@@ -222,15 +226,14 @@ def run_rl(path, prj_file, hr, md, sub, w2t):
# 5.停止程序运行，保留数据并处理输出
end_time = time.strftime("%Y-%m-%d %H:%M:%S", time.localtime(time.time()))
hr.execution("rl_task.stop", tasks=["current"])
time.sleep(5) # 确保数据都拿到
time.sleep(2) # 确保数据都拿到
change_curve_state(hr, False, False)
gen_result_file(path, number, start_time, end_time, scenario_time)
else:
if sub == "tool100":
w2t("单轴和场景电机电流采集完毕，如需采集惯量负载，须切换负载类型，并更换惯量负载，重新执行。\n", "green")
elif sub == "inertia":
w2t("惯量负载电机电流采集完毕，如需采集单轴/场景/保持电机电流，须切换负载类型，并更换偏置负载，重新执行。\n", "green")
hr.execution("diagnosis.open", open=False, display_open=False, overrun=True, turn_area=True, delay_motion=False)
hr.execution("diagnosis.set_params", display_pdo_params=[], frequency=50, version="1.4.1")
def main():