fix up
This commit is contained in:
hav
parent
f04dc3cf8f
commit
172d348c73
168
main.py
168
main.py
@ -39,7 +39,7 @@ from Circle1.circle1 import circle1
|
||||
from Circle2.circle2 import circle2
|
||||
|
||||
pass_marker = True
|
||||
TIME_SLEEP = 5000 # TODO 比赛时改成 5000
|
||||
# TIME_SLEEP = 5000 # TODO 比赛时改成 5000
|
||||
|
||||
from enum import Enum, auto
|
||||
|
||||
@ -66,99 +66,99 @@ def main():
|
||||
Ctrl.voice.play_audio('ok')
|
||||
demo.play_audio(text)
|
||||
|
||||
# try:
|
||||
# # INFO Real Task
|
||||
# # TAG task - 0
|
||||
# info("Recovery stand", "info")
|
||||
# Ctrl.base_msg.stand_up()
|
||||
# Ctrl.base_msg.stop() # BUG 垃圾指令 for eat # INFO 但是正式比赛或许也有用
|
||||
try:
|
||||
# INFO Real Task
|
||||
# TAG task - 0
|
||||
info("Recovery stand", "info")
|
||||
Ctrl.base_msg.stand_up()
|
||||
Ctrl.base_msg.stop() # BUG 垃圾指令 for eat # INFO 但是正式比赛或许也有用
|
||||
|
||||
# if TASK == TaskType.PASS_BAR:
|
||||
# from task_4.pass_bar import pass_bar
|
||||
# # TEST #1: pass-bar
|
||||
# pass_bar(Ctrl, msg)
|
||||
# elif TASK == TaskType.YELLOW_LIGHT: # TODO image
|
||||
# from task_3.task_3 import go_until_yellow_area
|
||||
# # turn_degree_v2(Ctrl, msg, degree=-90, absolute=True)
|
||||
# go_until_yellow_area(Ctrl, msg, yellow_ratio_threshold=0.012, speed=0.3, max_time=30, observe=True)
|
||||
# elif TASK == TaskType.RED_BAR:
|
||||
# from task_4.task_4 import go_straight_until_red_bar
|
||||
# go_straight_until_red_bar(Ctrl, msg, red_ratio_threshold=0.18, step_distance=0.3)
|
||||
# elif TASK == TaskType.UP_AND_DOWN:
|
||||
# from task_3.task_3 import go_straight_with_enhanced_calibration
|
||||
# go_straight_with_enhanced_calibration(Ctrl, msg, distance = 5, speed=0.5, observe=False, mode=11, gait_id=3, step_height=[0.21, 0.21])
|
||||
# elif TASK == TaskType.STONE_ROAD:
|
||||
# from task_3.task_3 import pass_stone
|
||||
# pass_stone(Ctrl, msg, distance = 4.5, observe=False)
|
||||
# elif TASK == TaskType.MOVE_TO_LINE:
|
||||
# from base_move.move_base_hori_line import move_to_hori_line
|
||||
# move_to_hori_line(Ctrl, msg, target_distance = 1.1, observe=False)
|
||||
# elif TASK == TaskType.CENTER_ON_DUAL_TRACKS:
|
||||
# from base_move.center_on_dual_tracks import center_on_dual_tracks
|
||||
# center_on_dual_tracks(Ctrl, msg, max_deviation=10.0, observe=False, detect_height=0.3)
|
||||
# else:
|
||||
# pass
|
||||
if TASK == TaskType.PASS_BAR:
|
||||
from task_4.pass_bar import pass_bar
|
||||
# TEST #1: pass-bar
|
||||
pass_bar(Ctrl, msg)
|
||||
elif TASK == TaskType.YELLOW_LIGHT: # TODO image
|
||||
from task_3.task_3 import go_until_yellow_area
|
||||
# turn_degree_v2(Ctrl, msg, degree=-90, absolute=True)
|
||||
go_until_yellow_area(Ctrl, msg, yellow_ratio_threshold=0.012, speed=0.3, max_time=30, observe=True)
|
||||
elif TASK == TaskType.RED_BAR:
|
||||
from task_4.task_4 import go_straight_until_red_bar
|
||||
go_straight_until_red_bar(Ctrl, msg, red_ratio_threshold=0.18, step_distance=0.3)
|
||||
elif TASK == TaskType.UP_AND_DOWN:
|
||||
from task_3.task_3 import go_straight_with_enhanced_calibration
|
||||
go_straight_with_enhanced_calibration(Ctrl, msg, distance = 5, speed=0.5, observe=False, mode=11, gait_id=3, step_height=[0.21, 0.21])
|
||||
elif TASK == TaskType.STONE_ROAD:
|
||||
from task_3.task_3 import pass_stone
|
||||
pass_stone(Ctrl, msg, distance = 4.5, observe=False)
|
||||
elif TASK == TaskType.MOVE_TO_LINE:
|
||||
from base_move.move_base_hori_line import move_to_hori_line
|
||||
move_to_hori_line(Ctrl, msg, target_distance = 1.1, observe=False)
|
||||
elif TASK == TaskType.CENTER_ON_DUAL_TRACKS:
|
||||
from base_move.center_on_dual_tracks import center_on_dual_tracks
|
||||
center_on_dual_tracks(Ctrl, msg, max_deviation=10.0, observe=False, detect_height=0.3)
|
||||
else:
|
||||
pass
|
||||
|
||||
# if TASK != TaskType.TASK:
|
||||
# # 如果不是 task 类型，直接返回
|
||||
# pass
|
||||
if TASK != TaskType.TASK:
|
||||
# 如果不是 task 类型，直接返回
|
||||
pass
|
||||
|
||||
# # TAG task - 1
|
||||
# TAG task - 1
|
||||
# run_task_1(Ctrl, msg, time_sleep=TIME_SLEEP)
|
||||
|
||||
# # TAG task - 2
|
||||
# arrow_direction = xiesi2(Ctrl, msg)
|
||||
# TAG task - 2
|
||||
arrow_direction = xiesi2(Ctrl, msg)
|
||||
|
||||
# # TAG task - 3 / 4 - part I
|
||||
# # arrow_direction = 'left'
|
||||
# TAG task - 3 / 4 - part I
|
||||
# arrow_direction = 'left'
|
||||
if arrow_direction == 'left':
|
||||
circle1(Ctrl, msg)
|
||||
else:
|
||||
circle2(Ctrl, msg)
|
||||
|
||||
|
||||
# TAG task - 5
|
||||
# Ctrl.base_msg.stand_up()
|
||||
# turn_degree_v2(Ctrl, msg, degree=90, absolute=True)
|
||||
# run_task_5(Ctrl, msg, direction=arrow_direction, observe=True, time_sleep=TIME_SLEEP) # B区任务
|
||||
# Ctrl.base_msg.lie_down(wait_time=10000)
|
||||
# print('wait 30s')
|
||||
|
||||
|
||||
# TAG task - 3 / 4 - part II
|
||||
# Ctrl.base_msg.stand_up()
|
||||
# if arrow_direction == 'left':
|
||||
# circle1(Ctrl, msg)
|
||||
# from task_3.task_3 import go_straight_with_enhanced_calibration
|
||||
# go_straight_with_enhanced_calibration(Ctrl, msg, distance = 5, speed=0.5, observe=False, mode=11, gait_id=3, step_height=[0.21, 0.21])
|
||||
# else:
|
||||
# circle2(Ctrl, msg)
|
||||
# from task_3.task_3 import pass_stone
|
||||
# pass_stone(Ctrl, msg, distance = 4.5, observe=False)
|
||||
|
||||
# TAG task - 2.5 - back
|
||||
#nrun_task_2_5_back(Ctrl, msg, direction=arrow_direction)
|
||||
# Ctrl.base_msg.lie_down(wait_time=10000)
|
||||
# print('wait 30s')
|
||||
|
||||
# Ctrl.base_msg.stand_up()
|
||||
# TAG task - 2 - back
|
||||
# run_task_2_back(Ctrl, msg)
|
||||
xiesi2_back(Ctrl, msg)
|
||||
# Ctrl.base_msg.lie_down(wait_time=10000)
|
||||
# print('wait 30s')
|
||||
|
||||
# Ctrl.base_msg.stand_up()
|
||||
# TAG task - 1 - back
|
||||
# run_task_1_back(Ctrl, msg, time_sleep=TIME_SLEEP)
|
||||
|
||||
|
||||
# # TAG task - 5
|
||||
# # Ctrl.base_msg.stand_up()
|
||||
# # turn_degree_v2(Ctrl, msg, degree=90, absolute=True)
|
||||
# # run_task_5(Ctrl, msg, direction=arrow_direction, observe=True, time_sleep=TIME_SLEEP) # B区任务
|
||||
# # Ctrl.base_msg.lie_down(wait_time=10000)
|
||||
# # print('wait 30s')
|
||||
|
||||
|
||||
# # TAG task - 3 / 4 - part II
|
||||
# # Ctrl.base_msg.stand_up()
|
||||
# # if arrow_direction == 'left':
|
||||
# # from task_3.task_3 import go_straight_with_enhanced_calibration
|
||||
# # go_straight_with_enhanced_calibration(Ctrl, msg, distance = 5, speed=0.5, observe=False, mode=11, gait_id=3, step_height=[0.21, 0.21])
|
||||
# # else:
|
||||
# # from task_3.task_3 import pass_stone
|
||||
# # pass_stone(Ctrl, msg, distance = 4.5, observe=False)
|
||||
|
||||
# # TAG task - 2.5 - back
|
||||
# #nrun_task_2_5_back(Ctrl, msg, direction=arrow_direction)
|
||||
# # Ctrl.base_msg.lie_down(wait_time=10000)
|
||||
# # print('wait 30s')
|
||||
|
||||
# # Ctrl.base_msg.stand_up()
|
||||
# # TAG task - 2 - back
|
||||
# # run_task_2_back(Ctrl, msg)
|
||||
# xiesi2_back(Ctrl, msg)
|
||||
# # Ctrl.base_msg.lie_down(wait_time=10000)
|
||||
# # print('wait 30s')
|
||||
|
||||
# # Ctrl.base_msg.stand_up()
|
||||
# # TAG task - 1 - back
|
||||
# # run_task_1_back(Ctrl, msg, time_sleep=TIME_SLEEP)
|
||||
|
||||
|
||||
# print('🏁 Task finished.')
|
||||
# try:
|
||||
# while rclpy.ok():
|
||||
# executor.spin_once(timeout_sec=0.1)
|
||||
# if getattr(node, '_shutdown_flag', False):
|
||||
# break
|
||||
# except KeyboardInterrupt:
|
||||
# pass
|
||||
print('🏁 Task finished.')
|
||||
try:
|
||||
while rclpy.ok():
|
||||
executor.spin_once(timeout_sec=0.1)
|
||||
if getattr(node, '_shutdown_flag', False):
|
||||
break
|
||||
except KeyboardInterrupt:
|
||||
pass
|
||||
|
||||
except KeyboardInterrupt:
|
||||
print("\n程序被用户中断")
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user