mi-task/task_2_5/task_2_5.py

import time
import sys
import os

# 添加父目录到路径，以便能够导入utils
sys.path.append(os.path.dirname(os.path.dirname(os.path.abspath(__file__))))

from base_move.turn_degree import turn_degree, turn_degree_v2
from base_move.go_to_xy import go_straight, go_to_x_v2, go_to_y_v2
from base_move.move_base_hori_line import arc_turn_around_hori_line, align_to_horizontal_line
from utils.log_helper import LogHelper, get_logger, section, info, debug, warning, error, success, timing

observe = True

def run_task_2_5(Ctrl, msg, direction='left'):
    section('任务2.5：预备进入任务3', "启动")
    turn_degree_v2(Ctrl, msg, degree=90, absolute=True)
    # go_straight(Ctrl, msg, distance=-0.1, speed=0.5, observe=observe)

    section('任务2.5-1：第一次旋转', "移动")

    turn_success, res = arc_turn_around_hori_line(
        Ctrl,
        msg,
        angle_deg=85 if direction == 'left' else -85,
        target_distance=0.2,
        detect_func_version=3,
        pass_align=True,
        radius=0.6,
        observe=observe,
        no_end_reset=True,
    )

    go_straight(Ctrl, msg, distance=0.2, speed=0.5, observe=observe)
    section('任务2.5-2：第二次旋转', "移动")

def run_task_2_5_back(Ctrl, msg, direction='left'):
    section('任务2.5-back：预备进入任务3', "启动")
    turn_degree_v2(Ctrl, msg, degree=0, absolute=True)
    # go_to_x_v2(Ctrl, msg, target_x=1, observe=observe)
    # go_to_y_v2(Ctrl, msg, target_y=5.2, speed=0.5, observe=True)