refactor(base_move): improve left side track following algorithm

- Update function signature: replace target_distance with min_distance and max_distance
- Remove unused error_threshold variable
- Adjust logging messages for better readability
- Modify success condition to check within range of min_distance and max_distance
- Update task_left_line.py to turn 90 degrees before following left side track

base_move/move_base_hori_line.py

@@ -1222,7 +1222,7 @@ def follow_dual_tracks(ctrl, msg, speed=0.5, max_time=30, target_distance=None,
     
     return True
 
-def follow_left_side_track(ctrl, msg, target_distance=540, speed=0.3, max_time=30, observe=False):
+def follow_left_side_track(ctrl, msg, min_distance=600, max_distance=650, speed=0.3, max_time=30, observe=False):
     """
     控制机器狗向左侧移动并靠近左侧的黄色轨迹线，只进行侧向移动，不进行前进
     
@@ -1258,11 +1258,9 @@ def follow_left_side_track(ctrl, msg, target_distance=540, speed=0.3, max_time=3
     
     initial_distance = track_info["distance_to_left"]
     if observe:
-        info(f"初始距离: {initial_distance:.1f}px, 目标距离: {target_distance}px", "初始")
+        info(f"初始距离: {initial_distance:.1f}px")
     
     # 最大允许误差(像素)
-    error_threshold = 30
-    
     # 简单比例控制参数
     kp = 0.0005
     
@@ -1284,18 +1282,17 @@ def follow_left_side_track(ctrl, msg, target_distance=540, speed=0.3, max_time=3
         current_distance = track_info["distance_to_left"]
         
         # 计算误差 (正值表示需要向左移动，负值表示需要向右移动)
-        error = target_distance - current_distance
+        error_distance = current_distance - (min_distance + max_distance) / 2  # 新增：计算误差
-        
         if observe and time.time() % 0.5 < 0.02:  # 每0.5秒左右打印一次
-            debug(f"当前距离: {current_distance:.1f}px, 目标距离: {target_distance}px, 误差: {error:.1f}px", "跟踪")
+            debug(f"当前距离: {current_distance:.1f}px, 误差: {error:.1f}px", "跟踪")
         
         # 检查是否已达到目标
-        if abs(error) < error_threshold:
+        if min_distance <= current_distance <= max_distance:
-            success(f"已达到目标距离，当前距离: {current_distance:.1f}px, 目标距离: {target_distance}px", "完成")
+            success(f"已达到目标距离，当前距离: {current_distance:.1f}px")
             break
         
         # 计算侧向速度 (简单比例控制)
-        lateral_velocity = kp * error
+        lateral_velocity = kp * error_distance  # 修正：确保 error 已定义
         
         # 限制侧向速度
         lateral_velocity = max(-speed, min(speed, lateral_velocity))
@@ -1321,14 +1318,13 @@ def follow_left_side_track(ctrl, msg, target_distance=540, speed=0.3, max_time=3
     
     if track_info is not None:
         final_distance = track_info["distance_to_left"]
-        distance_error = abs(final_distance - target_distance)
+        final_success = min_distance <= final_distance <= max_distance
-        final_success = distance_error < error_threshold
         
         if observe:
             if final_success:
-                success(f"成功达到目标位置，最终距离: {final_distance:.1f}px, 目标: {target_distance}px", "成功")
+                success(f"成功达到目标位置，最终距离: {final_distance:.1f}px", "成功")
             else:
-                warning(f"未能精确达到目标位置，最终距离: {final_distance:.1f}px, 目标: {target_distance}px", "警告")
+                warning(f"未能精确达到目标位置，最终距离: {final_distance:.1f}px", "警告")
         
         return final_success
     else:

task_test/task_left_line.py

@@ -13,6 +13,6 @@ from utils.log_helper import LogHelper, get_logger, section, info, debug, warnin
 logger = get_logger("任务-test")
 
 def run_task_test(ctrl, msg):
-    turn_degree(ctrl, msg, 0, absolute=True)
+    turn_degree(ctrl, msg, 90, absolute=True)
     follow_left_side_track(ctrl, msg)
     # time.sleep(100)