refactor(task_2_5): simplify and restructure task execution

- Remove unused imports and simplify code structure
- Add direction parameter to run_task_2_5 function for flexibility
- Adjust turn_degree parameters for better accuracy
- Comment out unused alternative execution paths

base_move/turn_degree.py

@@ -43,7 +43,7 @@ def turn_degree(ctrl, msg, degree=90, absolute=False, precision=False):
     
     # 定义允许的误差范围（弧度）
     # 如果是精确模式，使用更小的误差阈值
-    limit = 0.03 if precision else 0.04  # 约1.7度或2.3度
+    limit = 0.05
     
     # 计算最短旋转方向和距离
     def circle_dist(target, location):
@@ -94,7 +94,7 @@ def turn_degree(ctrl, msg, degree=90, absolute=False, precision=False):
         debug(f"等待旋转完成: {wait_time:.2f}秒", "时间")
         
         # 精确模式下使用实时监控而不是固定等待时间
-        if precision and abs(dist) > 0.1:  # 对于较大角度
+        if abs(dist) > 0.1:  # 对于较大角度
             start_time = time.time()
             last_yaw = current_yaw
             stable_count = 0

task_2_5/task_2_5.py

@@ -11,41 +11,36 @@ from utils.log_helper import LogHelper, get_logger, section, info, debug, warnin
 
 observe = True
 
-def run_task_2_5(Ctrl, msg):
+def run_task_2_5(Ctrl, msg, direction='left'):
     section('任务2.5：预备进入任务3', "启动")
 
     # TEST
     turn_degree(Ctrl, msg, 90, absolute=observe)
 
-    align_to_horizontal_line(
-        Ctrl,
-        msg,
-        detect_func_version=2,
-        observe=observe,
-    )
-
-    return
-
     section('任务2.5-1：第一次旋转', "移动")
 
-    arc_turn_around_hori_line(
+    turn_success, res = arc_turn_around_hori_line(
         Ctrl,
         msg,
-        angle_deg=-90,
+        angle_deg=90 if direction == 'left' else -90,
-        target_distance=0.5,
+        target_distance=0.3,
         detect_func_version=2,
         observe=observe,
     )
 
     section('任务2.5-2：第二次旋转', "移动")
 
-    arc_turn_around_hori_line(
+    turn_degree(Ctrl, msg, degree=90, absolute=True)
-        Ctrl,
+
-        msg,
+    # arc_turn_around_hori_line(
-        angle_deg=90,
+    #     Ctrl,
-        target_distance=0.5,
+    #     msg,
-        detect_func_version=2,
+    #     angle_deg=70,
-        observe=observe,
+    #     # target_distance=0.5,
-    )
+    #     pass_align=True,
+    #     radius=res['radius'],
+    #     detect_func_version=2,
+    #     observe=observe,
+    # )
 
     

utils/detect_track.py

@@ -19,7 +19,7 @@ def detect_horizontal_track_edge(image, observe=False, delay=1000, save_log=True
         edge_point: 赛道前方边缘点的坐标 (x, y)
         edge_info: 边缘信息字典
     """
-    # observe = False  # TEST
+    observe = False  # TEST
     # 如果输入是字符串（文件路径），则加载图像
     if isinstance(image, str):
         img = cv2.imread(image)
@@ -361,7 +361,7 @@ def detect_horizontal_track_edge_v2(image, observe=False, delay=1000, save_log=T
         edge_point: 赛道前方边缘点的坐标 (x, y)
         edge_info: 边缘信息字典
     """
-    # observe = False  # TEST
+    observe = False  # TEST
     # 如果输入是字符串（文件路径），则加载图像
     if isinstance(image, str):
         img = cv2.imread(image)