CameraMachine/python/mcu/McuDebug.py

import time

class McuDebug(object):

    def __init__(self, mcu, is_debug=True, is_deviation=False):
        self.mcu = mcu
        self.is_debug = 1 if is_debug else 0
        self.is_deviation = 1 if is_deviation else 0

    def camera_high_motor(self, value):
        # 相机电机
        self.mcu.to_device_move(
            device_name="camera_high_motor",
            value=value,
            max_speed=1400,
            up_speed=400,
            down_speed=100,
            _is_debug=self.is_debug,
            is_deviation=self.is_deviation,
        )

    def camera_steering(self, value):
        # 相机舵机
        self.mcu.to_device_move(
            device_name="camera_steering",
            value=value,
            _is_debug=self.is_debug,
            is_deviation=self.is_deviation,
        )

    def turntable_steering(self, value):
        # 转盘舵机
        self.mcu.to_device_move(
            device_name="turntable_steering",
            value=value,
            _is_debug=self.is_debug,
            is_deviation=self.is_deviation,
        )

    def turntable_position_motor(self, value):
        # 转盘舵机
        self.mcu.to_device_move(
            device_name="turntable_position_motor",
            value=value,
            max_speed=1400,
            up_speed=400,
            down_speed=100,
            _is_debug=self.is_debug,
            is_deviation=self.is_deviation,
        )

    def overturn_steering(self, value):
        # 翻板舵机中位
        self.mcu.to_device_move(
            device_name="overturn_steering",
            value=value,
            _is_debug=self.is_debug,
            is_deviation=self.is_deviation,
        )

    def to_deal_device(self, device_name, value=1, _type=0, times=1):
        self.mcu.to_deal_device(
            device_name, value=value, _type=_type, times=times
        )

    def photograph(self, goods_art_no=None):
        self.mcu.photograph(goods_art_no=goods_art_no)

    def __move_equipment(self, data):
        func_class = {
            "相机电机": self.camera_high_motor,
            "相机舵机": self.camera_steering,
            "转盘舵机": self.turntable_steering,
            "转盘前后电机": self.turntable_position_motor,
        }
        for key, value in data.items():
            if key in func_class:
                func_class[key](value=value)
                time.sleep(0.1)