From 53b04a6a740fb818ea596515742d51b580247204 Mon Sep 17 00:00:00 2001
From: havoc420ubuntu <2993167370@qq.com>
Date: Wed, 28 May 2025 09:56:35 +0000
Subject: [PATCH] Refactor main.py and enhance go_straight_with_qrcode function
 in go_straight.py. Commented out unused code in main.py for clarity and added
 QR code scanning functionality to go_straight_with_qrcode, improving robot
 navigation and task execution. Updated run_task_5 to utilize the new function
 for better integration of QR code scanning during movement.

---
 base_move/go_straight.py           |  216 ++
 base_move/turn_degree.py           |    2 +-
 main.py                            |   26 +-
 task_4/Gait_Params_stoop_full.toml | 4981 ++++++++++++++++++++++++++++
 task_5/task_5.py                   |   28 +-
 5 files changed, 5218 insertions(+), 35 deletions(-)
 create mode 100644 task_4/Gait_Params_stoop_full.toml

diff --git a/base_move/go_straight.py b/base_move/go_straight.py
index f418054..c17eb8f 100644
--- a/base_move/go_straight.py
+++ b/base_move/go_straight.py
@@ -202,6 +202,222 @@ def go_straight_until_bar(ctrl, msg, distance, speed=0.5, observe=False):
     """
     pass
 
+def go_straight_with_qrcode(ctrl, msg, distance, speed=0.5, observe=False):
+    """
+    控制机器人沿直线行走指定距离，同时扫描二维码
+    
+    参数:
+    ctrl: Robot_Ctrl 对象，包含里程计信息
+    msg: robot_control_cmd_lcmt 对象，用于发送命令
+    distance: 要行走的距离(米)，正值为前进，负值为后退
+    speed: 行走速度(米/秒)，范围0.1~1.0，默认为0.5
+    observe: 是否输出中间状态信息，默认为False
+    
+    返回:
+    tuple: (bool, str) - (是否成功完成行走, 扫描到的QR码内容)
+    """
+    # 返回此任务的中间状态
+    res = {}
+    qr_result = None
+    
+    # 启动异步QR码扫描
+    if hasattr(ctrl, 'image_processor') and ctrl.image_processor is not None:
+        try:
+            ctrl.image_processor.start_async_scan(interval=0.2)
+            if observe:
+                info("已启动异步QR码扫描", "扫描")
+        except Exception as e:
+            if observe:
+                error(f"启动QR码扫描失败: {e}", "失败")
+    else:
+        if observe:
+            warning("无法启用QR码扫描，image_processor不存在", "警告")
+    
+    # 参数验证
+    if abs(distance) < 0.01:
+        info("距离太短，无需移动", "信息")
+        # 停止异步扫描
+        if hasattr(ctrl, 'image_processor') and ctrl.image_processor is not None:
+            ctrl.image_processor.stop_async_scan()
+        return True, None
+        
+    # 限制速度范围
+    speed = min(max(abs(speed), 0.1), 1.0)
+    
+    # 确定前进或后退方向
+    forward = distance > 0
+    move_speed = speed if forward else -speed
+    abs_distance = abs(distance)
+    
+    # 获取起始位置
+    start_position = list(ctrl.odo_msg.xyz)
+    start_yaw = ctrl.odo_msg.rpy[2]  # 记录起始朝向，用于保持直线
+    
+    if observe:
+        debug(f"起始位置: {start_position}", "位置")
+        info(f"开始{'前进' if forward else '后退'} {abs_distance:.3f}米，速度: {abs(move_speed):.2f}米/秒", "移动")
+        # 在起点放置标记
+        if hasattr(ctrl, 'place_marker'):
+            ctrl.place_marker(start_position[0], start_position[1], 
+                            start_position[2] if len(start_position) > 2 else 0.0, 
+                            'green', observe=True)
+    
+    # 设置移动命令
+    msg.mode = 11  # Locomotion模式
+    msg.gait_id = 26  # 自变频步态
+    
+    # 根据需要移动的距离动态调整移动速度
+    if abs_distance > 1.0:
+        actual_speed = move_speed  # 距离较远时用设定速度
+    elif abs_distance > 0.5:
+        actual_speed = move_speed * 0.8  # 中等距离略微降速
+    elif abs_distance > 0.2:
+        actual_speed = move_speed * 0.6  # 较近距离降低速度
+    else:
+        actual_speed = move_speed * 0.4  # 非常接近时用更慢速度
+    
+    # 设置移动速度和方向
+    msg.vel_des = [actual_speed, 0, 0]  # [前进速度, 侧向速度, 角速度]
+    msg.duration = 0  # wait next cmd
+    msg.step_height = [0.06, 0.06]  # 抬腿高度
+    msg.life_count += 1
+    
+    # 发送命令
+    ctrl.Send_cmd(msg)
+    
+    # 估算移动时间，但实际上会通过里程计控制
+    estimated_time = abs_distance / abs(actual_speed)
+    timeout = estimated_time + 3  # 增加超时时间为预计移动时间加3秒
+    
+    # 使用里程计进行实时监控移动距离
+    distance_moved = 0
+    start_time = time.time()
+    last_position = start_position
+    last_qr_check_time = start_time
+    qr_check_interval = 0.3  # QR码检查间隔时间(秒)
+    
+    # 动态调整参数
+    angle_correction_threshold = 0.05  # 角度偏差超过多少弧度开始修正
+    slow_down_ratio = 0.85  # 当移动到目标距离的85%时开始减速
+    completion_threshold = 0.95  # 当移动到目标距离的95%时停止
+    position_check_interval = 0.1  # 位置检查间隔(秒)
+    last_check_time = start_time
+    
+    # 监控移动距离
+    while distance_moved < abs_distance * completion_threshold and time.time() - start_time < timeout:
+        current_time = time.time()
+        
+        # 按固定间隔检查位置，减少计算负担
+        if current_time - last_check_time >= position_check_interval:
+            # 获取当前位置和朝向
+            current_position = ctrl.odo_msg.xyz
+            current_yaw = ctrl.odo_msg.rpy[2]
+            
+            # 计算已移动距离
+            dx = current_position[0] - start_position[0]
+            dy = current_position[1] - start_position[1]
+            distance_moved = math.sqrt(dx*dx + dy*dy)
+            
+            # 根据前进或后退确定期望方向
+            expected_direction = start_yaw if forward else (start_yaw + math.pi) % (2 * math.pi)
+            
+            # 使用IMU朝向数据计算角度偏差
+            yaw_error = current_yaw - expected_direction
+            # 角度归一化
+            while yaw_error > math.pi:
+                yaw_error -= 2 * math.pi
+            while yaw_error < -math.pi:
+                yaw_error += 2 * math.pi
+                
+            # 计算完成比例
+            completion_ratio = distance_moved / abs_distance
+            
+            # 根据距离完成情况调整速度
+            if completion_ratio > slow_down_ratio:
+                # 计算减速系数
+                slow_factor = 1.0 - (completion_ratio - slow_down_ratio) / (1.0 - slow_down_ratio)
+                # 确保不会减速太多
+                slow_factor = max(0.2, slow_factor)
+                new_speed = actual_speed * slow_factor
+                
+                if observe and abs(new_speed - msg.vel_des[0]) > 0.05:
+                    info(f"减速: {msg.vel_des[0]:.2f} -> {new_speed:.2f} 米/秒 (完成: {completion_ratio*100:.1f}%)", "移动")
+                
+                msg.vel_des[0] = new_speed
+                msg.life_count += 1
+                ctrl.Send_cmd(msg)
+            
+            if observe and current_time - start_time > 1 and (current_time % 0.5 < position_check_interval):
+                debug(f"已移动: {distance_moved:.3f}米, 目标: {abs_distance:.3f}米 (完成: {completion_ratio*100:.1f}%)", "距离")
+                debug(f"当前速度: [{msg.vel_des[0]:.2f}, {msg.vel_des[1]:.2f}, {msg.vel_des[2]:.2f}]", "移动")
+            
+            # 更新最后检查时间和位置
+            last_check_time = current_time
+            last_position = current_position
+        
+        # 检查QR码扫描结果
+        if current_time - last_qr_check_time >= qr_check_interval:
+            if hasattr(ctrl, 'image_processor') and ctrl.image_processor is not None:
+                qr_data, scan_time = ctrl.image_processor.get_last_qr_result()
+                if qr_data and scan_time > start_time:
+                    qr_result = qr_data
+                    if observe:
+                        success(f"在移动过程中扫描到QR码: {qr_data}", "扫描")
+            last_qr_check_time = current_time
+            
+        time.sleep(0.01)  # 小间隔检查位置
+    
+    # 平滑停止
+    if hasattr(ctrl.base_msg, 'stop_smooth'):
+        ctrl.base_msg.stop_smooth()
+    else:
+        ctrl.base_msg.stop()
+    
+    # 获取最终位置和实际移动距离
+    final_position = ctrl.odo_msg.xyz
+    dx = final_position[0] - start_position[0]
+    dy = final_position[1] - start_position[1]
+    actual_distance = math.sqrt(dx*dx + dy*dy)
+    
+    # 停止异步扫描
+    if hasattr(ctrl, 'image_processor') and ctrl.image_processor is not None:
+        ctrl.image_processor.stop_async_scan()
+        # 移动完成后再检查一次QR码扫描结果
+        last_qr_data, last_scan_time = ctrl.image_processor.get_last_qr_result()
+        if last_qr_data and (qr_result is None or last_scan_time > last_qr_check_time):
+            qr_result = last_qr_data
+            if observe:
+                success(f"移动完成后最终扫描到QR码: {last_qr_data}", "扫描")
+    
+    if observe:
+        success(f"移动完成，从里程计计算的移动距离: {actual_distance:.3f}米", "完成")
+        # 在终点放置标记
+        if hasattr(ctrl, 'place_marker'):
+            ctrl.place_marker(final_position[0], final_position[1], 
+                           final_position[2] if len(final_position) > 2 else 0.0, 
+                           'red', observe=True)
+    
+    # 判断是否成功完成
+    distance_error = abs(actual_distance - abs_distance)
+    go_success = distance_error < 0.1  # 如果误差小于10厘米，则认为成功
+    
+    if observe:
+        info(f"目标距离: {abs_distance:.3f}米, 实际距离: {actual_distance:.3f}米, 误差: {distance_error:.3f}米", "距离")
+        if go_success:
+            success(f"移动成功", "成功")
+        else:
+            warning(f"移动失败，误差过大: {distance_error:.3f}米", "失败")
+        
+        if qr_result:
+            success(f"成功扫描到QR码: {qr_result}", "扫描结果")
+        else:
+            warning("未扫描到任何QR码", "扫描结果")
+    
+    # 将QR码结果添加到res字典中
+    res['qr_result'] = qr_result
+    
+    return go_success, res
+
 # 用法示例
 if __name__ == "__main__":
     # 这里是示例代码，实际使用时需要提供合适的ctrl和msg对象
diff --git a/base_move/turn_degree.py b/base_move/turn_degree.py
index 414b4f0..376456c 100644
--- a/base_move/turn_degree.py
+++ b/base_move/turn_degree.py
@@ -391,7 +391,7 @@ def turn_degree_v2(ctrl, msg, degree=90, absolute=False, precision=True):
             # 每0.5秒打印一次进度
             elapsed = time.time() - start_time
             if int(elapsed * 2) % 2 == 0:
-                info(f"旋转进度: {elapsed:.1f}s/{wait_time:.1f}s, 剩余角度: {math.degrees(current_error):.2f}°", "进度")
+                debug(f"旋转进度: {elapsed:.1f}s/{wait_time:.1f}s, 剩余角度: {math.degrees(current_error):.2f}°", "进度")
         
         # 切换到站立姿态
         debug("旋转停止，切换到站立姿态", "姿态")
diff --git a/main.py b/main.py
index 285e9c6..51e91d9 100644
--- a/main.py
+++ b/main.py
@@ -51,32 +51,30 @@ def main():
         # time.sleep(100) # TEST,
         # run_task_1(Ctrl, msg)
 
-        arrow_direction = run_task_2(Ctrl, msg, xy_flag=False)
+        # arrow_direction = run_task_2(Ctrl, msg, xy_flag=False)
 
-        print(f"arrow_direction: {arrow_direction}")
-        run_task_2_5(Ctrl, msg, direction=arrow_direction)
+        # print(f"arrow_direction: {arrow_direction}")
+        # run_task_2_5(Ctrl, msg, direction=arrow_direction)
 
-        # 执行任务3
-        run_task_3(Ctrl, msg)
+        # arrow_direction = 'right' # TEST
 
-        # run_task_test(Ctrl, msg)
-
-        # time.sleep(100)
-
-        if arrow_direction == 'left':
-            run_task_4(Ctrl, msg)
-        else:
-            # run_task_3(Ctrl, msg)
-            pass
+        # if arrow_direction == 'left':
+        #     run_task_4(Ctrl, msg)
+        # else:
+        #     run_task_3(Ctrl, msg)
 
         run_task_5(Ctrl, msg)
 
+        return
+
         if arrow_direction == 'left':
             # run_task_3_back(Ctrl, msg)
             pass
         else:
             run_task_4_back(Ctrl, msg)
 
+        run_task_5(Ctrl, msg)
+
         run_task_2_5_back(Ctrl, msg, direction=arrow_direction)
 
         run_task_2_back(Ctrl, msg)
diff --git a/task_4/Gait_Params_stoop_full.toml b/task_4/Gait_Params_stoop_full.toml
new file mode 100644
index 0000000..3fb2393
--- /dev/null
+++ b/task_4/Gait_Params_stoop_full.toml
@@ -0,0 +1,4981 @@
+# Gait Params
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.2, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.2, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 100000.0, 0.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.2, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.2, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 0.0, 100.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.2, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.2, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 100.0, 0.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.2, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.2, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 0.0, 100000.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.2, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.2, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 100000.0, 0.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.2, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.2, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 0.0, 100.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.2, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.2, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 100.0, 0.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.2, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.2, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 0.0, 100000.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.2, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.2, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 100000.0, 0.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.2, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.2, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 0.0, 100.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.2, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.2, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 100.0, 0.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.2, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.2, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 0.0, 100000.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.2, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.2, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 100000.0, 0.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.2, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.2, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
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+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.2, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.2, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 100000.0, 0.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.2, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.2, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 0.0, 100.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.2, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.2, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 100.0, 0.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.2, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.2, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 0.0, 100000.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.2, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.2, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 100000.0, 0.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.2, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.2, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 0.0, 100.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.2, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.2, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 100.0, 0.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.2, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.2, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 0.0, 100000.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.2, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.2, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 100000.0, 0.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.2, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.2, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 0.0, 100.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.2, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.2, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 100.0, 0.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.2, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.2, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 0.0, 100000.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.2, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.2, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 100000.0, 0.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.2, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.2, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 0.0, 100.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.2, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.2, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 100.0, 0.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.2, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.2, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 0.0, 100000.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.2, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.2, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 100000.0, 0.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.2, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.2, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 0.0, 100.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.2, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.2, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 100.0, 0.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.2, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.2, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 0.0, 100000.0,]
+value = 1
+duration = 300
+
diff --git a/task_5/task_5.py b/task_5/task_5.py
index f3e56b6..54943ec 100644
--- a/task_5/task_5.py
+++ b/task_5/task_5.py
@@ -9,7 +9,7 @@ import math
 sys.path.append(os.path.dirname(os.path.dirname(os.path.abspath(__file__))))
 
 from base_move.turn_degree import turn_degree
-from base_move.go_straight import go_straight
+from base_move.go_straight import go_straight, go_straight_with_qrcode
 from utils.log_helper import LogHelper, get_logger, section, info, debug, warning, error, success, timing
 from utils.gray_sky_analyzer import analyze_gray_sky_ratio
 from base_move.move_base_hori_line import detect_horizontal_track_edge, detect_horizontal_track_edge_v2, detect_horizontal_track_edge_v3, calculate_distance_to_line
@@ -201,39 +201,27 @@ def go_straight_to_horizontal_line_with_qr(ctrl, msg, target_distance=0.5, speed
     return res['success'], qr_result, res
 
 
-def run_task_5(ctrl, msg):
+def run_task_5(ctrl, msg, observe=False):
     """
     走向卸货
     """
     section('任务5-1：直线移动并扫描二维码', "移动")
     
-    # 目标与横线的距离为0.5米
-    target_distance = 0.5
-    # 前进速度为0.5米/秒
-    speed = 0.5
     # 最大移动距离为8米
-    max_distance = 8
-    # 启用观察模式
-    observe = True
+    max_distance = 2
     
     # 开始移动并扫描二维码
-    success, qr_result, move_info = go_straight_to_horizontal_line_with_qr(
-        ctrl, msg, 
-        target_distance=target_distance,
-        speed=speed,
-        max_distance=max_distance,
-        observe=observe
-    )
+    go_success, res = go_straight_with_qrcode(ctrl, msg, distance=max_distance, speed=1, observe=observe)
     
     # 输出结果
-    if success:
+    if go_success:
         success("成功到达横线前指定距离", "完成")
-        if qr_result:
-            info(f"扫描到二维码: {qr_result}", "二维码")
+        if res['qr_result']:
+            info(f"扫描到二维码: {res['qr_result']}", "二维码")
         else:
             warning("未扫描到二维码", "二维码")
     else:
         error("未能成功到达横线前指定距离", "失败")
     
     # 返回移动和扫描结果
-    return success, qr_result, move_info
+    return go_success, res['qr_result']