feat: 增加动作类方法

action.py

@@ -182,33 +182,64 @@ class cmd_cls():
         while bycmd.send_angle_zhuan(angle) == -1:
             pass
         time.sleep(0.5)
+    def wait(self, _time):
+        time.sleep(_time)
 
-#  TODO 轴控制指令类，增加指令后加入动作队列，非阻塞
+# TODO 增加任务队列中非阻塞控制
 class axis_cls():
     def __init__(self) -> None:
         self.axis_queue = queue.Queue()
         self.busy = False
         pass
-    def axis_z(self, _distance, _time_via = -1):
+    def z(self, _distance, _time_via = -1):
         while self.busy is True:
             pass
         self.axis_queue.put(lambda: cmd.z(20, _distance, _time_via))
         pass
-    def axis_z2(self, _position, _time_via = -1):
+    def z2(self, _position, _time_via = -1):
         while self.busy is True:
             pass
         self.axis_queue.put(lambda: cmd.z2(20, _position, _time_via))
         pass
-    def axis_x(self, _distance, _time_via = -1):
+    def x(self, _distance, _time_via = -1):
         while self.busy is True:
             pass
         self.axis_queue.put(lambda: cmd.x(1, _distance, _time_via))
         pass
-    def axis_x2(self, _position, _time_via = -1):
+    def x2(self, _position, _time_via = -1):
         while self.busy is True:
             pass
         self.axis_queue.put(lambda: cmd.x2(1, _position, _time_via))
         pass
+    def camera(self, _angle):
+        while self.busy is True:
+            pass
+        self.axis_queue.put(lambda: cmd.camera(_angle))
+        pass
+    def claw(self, _angle):
+        while self.busy is True:
+            pass
+        self.axis_queue.put(lambda: cmd.claw(_angle))
+        pass
+    def claw_arm(self, _angle):
+        while self.busy is True:
+            pass
+        self.axis_queue.put(lambda: cmd.claw_arm(_angle))
+        pass
+    def scoop(self, _angle):
+        while self.busy is True:
+            pass
+        self.axis_queue.put(lambda: cmd.scoop(_angle))
+        pass
+    def storage(self, _angle):
+        while self.busy is True:
+            pass
+        self.axis_queue.put(lambda: cmd.storage(_angle))
+        pass
+    def wait(self, _time):
+        while self.busy is True:
+            pass
+        self.axis_queue.put(lambda: cmd.wait(_time))
     def pop(self):
         self.busy = True
         while self.axis_queue.qsize() > 0: