refactor(base_move): adjust moving strategy and update task execution

- Set msg.duration to 0 in move_to_hori_line to wait for next command
- Update task_1 execution flow based on QR code result
- Modify BaseMsg.stop() to use gait_id 27 for stopping
- Comment out smooth stop and use normal stop in move_to_hori_line

base_move/move_base_hori_line.py

@@ -285,7 +285,7 @@ def move_to_hori_line(ctrl, msg, target_distance=0.5, observe=False):
     
     # 估算移动时间，但实际上会通过里程计控制
     move_time = abs(distance_to_move) / move_speed
-    msg.duration = int((move_time + 2) * 1000)  # 加一点余量，确保有足够时间移动
+    msg.duration = 0  # wait next cmd
     msg.step_height = [0.06, 0.06]  # 抬腿高度
     msg.life_count += 1
     
@@ -311,7 +311,8 @@ def move_to_hori_line(ctrl, msg, target_distance=0.5, observe=False):
         time.sleep(0.05)  # 小间隔检查位置
     
     # 使用平滑停止
-    ctrl.base_msg.stop_smooth()
+    # ctrl.base_msg.stop_smooth()
+    ctrl.base_msg.stop()
     
     if observe:
         print(f"移动完成，平稳停止，通过里程计计算的移动距离: {distance_moved:.3f}米")

task_1/task_1.py

@@ -37,23 +37,16 @@ def run_task_1(ctrl, msg):
     move_to_hori_line(ctrl, msg, target_distance=1, observe=observe)
 
     print('😺 task 1 - 3')
-    # 在第二次旋转操作中也启用 QR 码扫描
-    turn_success, qr_result = arc_turn_around_hori_line(
+    direction = True if qr_result == 'A-2' else False
+    turn_success = arc_turn_around_hori_line(
         ctrl=ctrl,
         msg=msg,
         angle_deg=180,
-        target_distance=0.4,
-        left=True,
+        target_distance=0.5,
+        left=direction,
         observe=observe,
-        scan_qrcode=True,
-        qr_check_interval=0.3
     )
     
-    if qr_result:
-        print(f"🎯 在任务 1-3 中成功扫描到 QR 码: {qr_result}")
-    else:
-        print("⚠️ 任务 1-3 中未能扫描到任何 QR 码")
-
     return
 
     print('😺 task 1 - 4')

utils/base_msg.py

@@ -6,6 +6,9 @@ class BaseMsg:
         self.msg = msg
 
     def stop_force(self):
+        """
+        强制停止，但是大部分场景不好用，容易导致 robot 崩坏。
+        """
         self.msg.mode = 0
         self.msg.gait_id = 0
         self.msg.duration = 0
@@ -15,7 +18,7 @@ class BaseMsg:
 
     def stop(self, wait_time=200):
         self.msg.mode = 11
-        self.msg.gait_id = 26
+        self.msg.gait_id = 27
         self.msg.vel_des = [0, 0, 0]
         self.msg.duration = wait_time
         self.msg.life_count += 1