nothing

.gitignore

@@ -1,3 +1,5 @@
 __pycache__/
 *.py[cod]
-*$py.class
+*$py.class
+
+/logs/image/*

task_1/task_1.py

@@ -43,7 +43,7 @@ def run_task_1(ctrl, msg):
 
     section('任务1-2：移动到横线', "移动")
     # 执行常规的移动操作，不需要 QR 码扫描
-    move_to_hori_line(ctrl, msg, target_distance=0.8, observe=observe)
+    move_to_hori_line(ctrl, msg, target_distance=1, observe=observe)
 
     section('任务1-3：转弯', "旋转")
     direction = False # if res['qr_result'] == 'A-2' else True
@@ -68,11 +68,12 @@ def run_task_1(ctrl, msg):
     
     section('任务1-4：直线移动', "移动")
     move_distance = 0.3
-    if direction:
+    move_speed = 0.5
+    if not direction:
         # TODO 这里的校准不一定好用，需要优化
-        go_straight_by_hori_line(ctrl, msg, distance=move_distance, speed=0.5, observe=observe)
+        go_straight_by_hori_line(ctrl, msg, distance=move_distance, speed=move_speed, observe=observe)
     else:
-        go_straight(ctrl, msg, distance=move_distance, speed=0.5, observe=observe)
+        go_straight(ctrl, msg, distance=move_distance, speed=move_speed, observe=observe)
 
     section('任务1-5：模拟装货', "停止")
     info('机器人躺下，模拟装货过程', "信息")
@@ -86,17 +87,20 @@ def run_task_1(ctrl, msg):
     ctrl.base_msg.stand_up()
 
     section('任务1-6：返回', "移动")
-    go_straight(ctrl, msg, distance=-(move_distance + res['radius']), speed=0.5, observe=observe)
+    go_straight(ctrl, msg, distance=-(move_distance + res['radius'] * 2), speed=0.3, observe=observe)
 
     # turn and back
-    turn_degree(ctrl, msg, degree=-90, absolute=True)
+    turn_degree(ctrl, msg, degree=-90)
 
     section('任务1-7：90度转弯', "旋转")
     turn_success, res = arc_turn_around_hori_line(
         ctrl=ctrl,
         msg=msg,
-        angle_deg=-85,
-        left=True,
+        radius=res['radius'] * 2,
+        angle_deg=85,
+        left=-direction,
+        #
+        pass_align=True,
         observe=observe
     )
 
@@ -104,7 +108,7 @@ def run_task_1(ctrl, msg):
     move_to_hori_line(ctrl, msg, target_distance=0.4, observe=observe)
 
     section('任务1-9：90度旋转', "旋转")
-    turn_degree(ctrl, msg, degree=90, absolute=True)
+    turn_degree(ctrl, msg, degree=90)
 
     section('任务1-10: y校准，准备 task-2', "移动")
     # TODO