class GrabStateMachine:
def __init__(self):
self.current_state = None
self.inout = None # 关联输入输出对象
def set_state(self, state):
self.current_state = state
def execute(self):
if self.current_state == "伸出状态":
self.inout.机械臂伸出 = True
self.isDone = False
if self.inout.机械臂伸到位:
self.inout.机械臂伸出 = False
self.set_state("夹紧状态")
elif self.current_state == "夹紧状态":
self.inout.机械臂夹紧 = True
self.isDone = False
if self.inout.机械臂夹紧到位:
self.inout.机械臂夹紧 = False
self.set_state("缩回状态")
elif self.current_state == "缩回状态":
self.inout.机械臂缩回 = True
self.isDone = True
if self.inout.机械臂缩回到位:
self.inout.机械臂缩回 = False
self.set_state("伸出状态")
def catch_goods(self):
if self.inout.货物是否到位:
self.inout = self.inout # 假设这里已经有输入输出对象实例化好
self.set_state("伸出状态")
立体仓库设计
最新推荐文章于 2024-09-30 20:38:14 发布