Update movement parameters across multiple tasks for improved execution. Adjust distance in task 1 and task 2.5, modify calibration handling in Robot_Ctrl class, and enhance task 3 with new lateral movement command. Refine Gait_Params configuration for better performance.

main.py

@@ -133,7 +133,7 @@ class Robot_Ctrl(object):
             self.mode_ok = 0
     
     def reset_offset(self):
-        self.calibration_offset = self.odo_msg.xyz
+        self.is_calibrated = False
 
     def msg_handler_o(self, channel, data):
         self.odo_msg = localization_lcmt().decode(data)

task_1/task_1.py

@@ -192,6 +192,6 @@ def run_task_1_back(ctrl, msg, time_sleep=5000):
     section('任务1-19: 90度旋转', "旋转")
     turn_degree_v2(ctrl, msg, degree=0, absolute=True)
 
-    go_straight(ctrl, msg, distance=-1.4, observe=observe)
+    go_straight(ctrl, msg, distance=-1, observe=observe)
 
     success("任务1-back完成", "完成")

task_2_5/task_2_5.py

@@ -31,7 +31,7 @@ def run_task_2_5(Ctrl, msg, direction='left'):
         no_end_reset=True,
     )
 
-    go_straight(Ctrl, msg, distance=0.2, speed=0.5, observe=observe)
+    go_straight(Ctrl, msg, distance=0.1, 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'):

task_3/task_3.py

@@ -419,7 +419,8 @@ def run_task_3(ctrl, msg, time_sleep=5000):
     pass_up_down(ctrl, msg)
 
     turn_degree_v2(ctrl, msg, 90, absolute=True)
-    # center_on_dual_tracks(ctrl, msg, max_deviation=10.0, observe=False)
+    go_lateral(ctrl, msg, distance=-0.2, speed=0.5, observe=True)
+    center_on_dual_tracks(ctrl, msg, max_deviation=10.0, observe=False)
 
     section('任务3-2：yellow stop', "开始")
     go_until_yellow_area(ctrl, msg, yellow_ratio_threshold=0.15, speed=0.3)

task_4/task_4.py

@@ -56,6 +56,8 @@ def run_task_4_back(ctrl, msg):
     go_straight(ctrl, msg, distance=3, speed=1, observe=True)
     center_on_dual_tracks(ctrl, msg, max_deviation=10.0, observe=False)
 
+    return
+
     # 向右移动0.5秒
     section('任务4-回程：向右移动', "移动")
     go_lateral(ctrl, msg, distance=-0.1, speed=0.15, observe=True)  # DEBUG
@@ -71,7 +73,7 @@ def run_task_4_back(ctrl, msg):
 
     turn_degree_v2(ctrl, msg, degree=-90, absolute=True) 
     section('任务4-3：stone', "移动")
-    go_straight(ctrl, msg, distance=1, speed=2)
+    go_straight(ctrl, msg, distance=1, speed=1)
 
     turn_degree_v2(ctrl, msg, degree=-92, absolute=True)