From 47cfa56ff0a79e92c03ab4d6a1083828bce6219a Mon Sep 17 00:00:00 2001
From: Havoc <2993167370@qq.com>
Date: Tue, 27 May 2025 01:03:08 +0800
Subject: [PATCH] =?UTF-8?q?=E6=96=B0=E5=A2=9E=E4=BB=BB=E5=8A=A11=E5=92=8C?=
 =?UTF-8?q?=E4=BB=BB=E5=8A=A12.5=E7=9A=84=E8=BF=94=E5=9B=9E=E5=8A=9F?=
 =?UTF-8?q?=E8=83=BD=EF=BC=8C=E5=8C=85=E5=90=AB=E5=A4=9A=E4=B8=AA=E7=A7=BB?=
 =?UTF-8?q?=E5=8A=A8=E5=92=8C=E6=97=8B=E8=BD=AC=E6=AD=A5=E9=AA=A4=E4=BB=A5?=
 =?UTF-8?q?=E5=AE=8C=E6=88=90=E4=BB=BB=E5=8A=A1=E5=9B=9E=E7=A8=8B=E3=80=82?=
 =?UTF-8?q?=E4=BC=98=E5=8C=96=E4=BA=86=E6=9C=BA=E5=99=A8=E4=BA=BA=E5=9C=A8?=
 =?UTF-8?q?=E4=BB=BB=E5=8A=A1=E4=B8=AD=E7=9A=84=E5=8A=A8=E4=BD=9C=E6=B5=81?=
 =?UTF-8?q?=E7=A8=8B=EF=BC=8C=E7=A1=AE=E4=BF=9D=E6=9B=B4=E6=B5=81=E7=95=85?=
 =?UTF-8?q?=E7=9A=84=E6=89=A7=E8=A1=8C=E3=80=82?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 task_1/task_1.py     | 68 ++++++++++++++++++++++++++++++++++++++++++++
 task_2_5/task_2_5.py | 21 ++++++++++++++
 2 files changed, 89 insertions(+)

diff --git a/task_1/task_1.py b/task_1/task_1.py
index 3761ae3..2eebdbd 100644
--- a/task_1/task_1.py
+++ b/task_1/task_1.py
@@ -122,3 +122,71 @@ def run_task_1(ctrl, msg):
     # TODO
     
     success("任务1完成", "完成")
+
+
+def run_task_1_back(ctrl, msg):
+    section('任务1-11: 返回', "移动")
+
+    turn_success, res = arc_turn_around_hori_line(
+        ctrl=ctrl,
+        msg=msg,
+        angle_deg=90,
+        radius=0.4,
+        pass_align=True,
+        observe=observe,
+    )
+
+    section('任务1-11: 直线移动', "移动")
+    move_to_hori_line(ctrl, msg, target_distance=1, observe=observe)
+
+    section('任务1-12: 90度旋转', "旋转")
+    turn_success, res = arc_turn_around_hori_line(
+        ctrl=ctrl,
+        msg=msg,
+        angle_deg=170,
+        target_distance=0.6,
+        min_radius=0.3,
+        max_radius=0.4,
+        pass_align=True,
+        observe=observe,
+    )
+
+    section('任务1-13: 直线移动', "移动")
+    move_distance = 0.35
+    go_straight_by_hori_line(ctrl, msg, distance=move_distance, observe=observe)
+
+    section('任务1-14: 模拟装货', "停止")
+    info('机器人躺下，模拟装货过程', "信息")
+    start_time = time.time()
+    ctrl.base_msg.lie_down(wait_time=3000)  # TODO 比赛时改成 5s
+    elapsed = time.time() - start_time
+    timing("装货过程", elapsed)
+
+    section('任务1-15: 站起来', "移动")
+    ctrl.base_msg.stand_up()
+
+    section('任务1-16: 返回', "移动")
+    go_straight(ctrl, msg, distance=-(move_distance + res['radius'] + 0.3), observe=observe)
+
+    section('任务1-17: 90度转弯', "旋转")
+    turn_success, res = arc_turn_around_hori_line(
+        ctrl=ctrl,
+        msg=msg,
+        angle_deg=90,
+        radius=0.4,
+        pass_align=True,
+        observe=observe,
+    )
+
+    section('任务1-18: 直线移动', "移动")
+    move_to_hori_line(ctrl, msg, target_distance=0.35, observe=observe)
+
+    section('任务1-19: 90度旋转', "旋转")
+    turn_success, res = arc_turn_around_hori_line(
+        ctrl=ctrl,
+        msg=msg,
+        angle_deg=90,
+        radius=0.4,
+    )
+
+    success("任务1-back完成", "完成")
\ No newline at end of file
diff --git a/task_2_5/task_2_5.py b/task_2_5/task_2_5.py
index 61dc58c..6b0f20c 100644
--- a/task_2_5/task_2_5.py
+++ b/task_2_5/task_2_5.py
@@ -43,4 +43,25 @@ def run_task_2_5(Ctrl, msg, direction='left'):
     #     observe=observe,
     # )
 
+def run_task_2_5_back(Ctrl, msg, direction='left'):
+    section('任务2.5-back：预备进入任务3', "启动")
+
+    arc_turn_around_hori_line(
+        Ctrl,
+        msg,
+        angle_deg=90 if direction == 'left' else -90,
+        target_distance=0.3,
+        detect_func_version=2,
+        observe=observe,
+    )
+
+    turn_degree(Ctrl, msg, degree=90, absolute=True)
+
+    # arc_turn_around_hori_line(
+    #     Ctrl,
+    #     msg,
+    #     angle_deg=70,
+    #     target_distance=0.5,
+    #     pass_align=True,
+    # )
     
\ No newline at end of file