Havoc420mac/mi-task
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Refactor main.py and task functions by commenting out unused code and adjusting movement parameters for improved execution flow. Update task 2 to enhance clarity and maintainability.

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This commit is contained in:
havoc420ubuntu 2025-05-31 15:17:03 +00:00
parent 824e31edde
commit 580ebb39e3
3 changed files with 8 additions and 8 deletions
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12
main.py
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@ -50,14 +50,14 @@ def main():
Ctrl.base_msg.stand_up() Ctrl.base_msg.stand_up()
Ctrl.base_msg.stop() # BUG 垃圾指令 for eat Ctrl.base_msg.stop() # BUG 垃圾指令 for eat
# # time.sleep(100) # TEST, # time.sleep(100) # TEST,
run_task_1(Ctrl, msg, time_sleep=TIME_SLEEP) # run_task_1(Ctrl, msg, time_sleep=TIME_SLEEP)
arrow_direction = run_task_2(Ctrl, msg, xy_flag=False) # arrow_direction = run_task_2(Ctrl, msg, xy_flag=False)
# arrow_direction = 'right' # TEST arrow_direction = 'right' # TEST
info(f"识别到箭头方向: {arrow_direction}", "info") # info(f"识别到箭头方向: {arrow_direction}", "info")
run_task_2_5(Ctrl, msg, direction=arrow_direction) # run_task_2_5(Ctrl, msg, direction=arrow_direction)
if arrow_direction == 'left': if arrow_direction == 'left':
run_task_4(Ctrl, msg) run_task_4(Ctrl, msg)

2
task_2/task_2.py
View File

@ -118,7 +118,7 @@ class AsyncArrowDetector:
def run_task_2(ctrl, msg, xy_flag=False): def run_task_2(ctrl, msg, xy_flag=False):
# 微调 xy 和角度 # 微调 xy 和角度
go_to_xy_v2(ctrl, msg, 0.9, 0.25, speed=0.5, observe=True) go_to_xy_v2(ctrl, msg, 0.9, 0.25, speed=0.5, observe=True)
turn_degree(ctrl, msg, 0.8, absolute=True) turn_degree_v2(ctrl, msg, 0.8, absolute=True)
print('角度为',ctrl.odo_msg.rpy[2]) print('角度为',ctrl.odo_msg.rpy[2])
#获取微调角度 #获取微调角度

2
task_2_5/task_2_5.py
View File

@ -31,7 +31,7 @@ def run_task_2_5(Ctrl, msg, direction='left'):
observe=observe, observe=observe,
) )
go_straight(Ctrl, msg, distance=0.1, speed=0.5, observe=observe) go_straight(Ctrl, msg, distance=0.2, speed=0.5, observe=observe)
section('任务2.5-2：第二次旋转', "移动") section('任务2.5-2：第二次旋转', "移动")
def run_task_2_5_back(Ctrl, msg, direction='left'): def run_task_2_5_back(Ctrl, msg, direction='left'):