Havoc420mac/mi-task
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Update task functions by adding a new movement command in task 2, commenting out unused code in task 2.5, and disabling certain operations in task 3 for improved execution flow and clarity.

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havoc420ubuntu 2025-05-31 21:38:26 +00:00
parent 4eb237af83
commit 56c4131fa4
4 changed files with 12 additions and 9 deletions
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3
task_2/task_2.py
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@ -138,6 +138,9 @@ class AsyncArrowDetector:
return self.left_count, self.right_count
def run_task_2(ctrl, msg, xy_flag=False):
go_to_xy(ctrl, msg, 0.8, 5, speed=0.5, observe=True)
return 'right'
# 微调 xy 和角度
go_to_xy_v2(ctrl, msg, 0.9, 0.25, speed=0.5, observe=True)
turn_degree_v2(ctrl, msg, 0.8, absolute=True)

2
task_2_5/task_2_5.py
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@ -14,7 +14,7 @@ observe = True
def run_task_2_5(Ctrl, msg, direction='left'):
section('任务2.5：预备进入任务3', "启动")
go_straight(Ctrl, msg, distance=-0.1, speed=0.5, observe=observe)
# go_straight(Ctrl, msg, distance=-0.1, speed=0.5, observe=observe)
# TEST
turn_degree_v2(Ctrl, msg, 90, absolute=observe)

4
task_3/task_3.py
View File

@ -503,7 +503,7 @@ def run_task_3(ctrl, msg, time_sleep=5000):
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)
# go_until_yellow_area(ctrl, msg, yellow_ratio_threshold=0.15, speed=0.3)
# 原地站立3秒
section("原地站立3秒", "站立")
@ -516,7 +516,7 @@ def run_task_3(ctrl, msg, time_sleep=5000):
ctrl.Send_cmd(msg)
info("开始原地站立3秒", "站立")
time.sleep(time_sleep / 1000)
# time.sleep(time_sleep / 1000)
info("完成原地站立", "站立")

12
task_5/task_5.py
View File

@ -237,9 +237,9 @@ def run_task_5(ctrl, msg, direction='left', observe=False, time_sleep=5000):
else:
move_to_hori_line(ctrl, msg, target_distance=2, observe=observe, detect_func_version=4)
section('任务5-3：卸货', "卸货")
ctrl.base_msg.lie_down(wait_time=time_sleep)
ctrl.base_msg.stand_up()
# section('任务5-3：卸货', "卸货")
# ctrl.base_msg.lie_down(wait_time=time_sleep)
# ctrl.base_msg.stand_up()
section('任务5-4：返回', "移动")
go_straight(ctrl, msg, distance=-1, speed=0.5, observe=observe)
@ -252,9 +252,9 @@ def run_task_5(ctrl, msg, direction='left', observe=False, time_sleep=5000):
section('任务5-6：转弯', "转弯")
arc_turn_around_hori_line(ctrl, msg, angle_deg=-85, target_distance=0.3, observe=observe, no_end_reset=True)
section('任务5-5：上货', "卸货")
ctrl.base_msg.lie_down(wait_time=SLEEP_TIME)
ctrl.base_msg.stand_up()
# section('任务5-5：上货', "卸货")
# ctrl.base_msg.lie_down(wait_time=SLEEP_TIME)
# ctrl.base_msg.stand_up()
section('任务5-7：返回', "移动")
turn_degree_v2(ctrl, msg, degree=-90, absolute=True)