refactor(base_move): adjust parameters and fix issues in left side track following

- Reduce max_time parameter from 30 to 3 in follow_left_side_track function
- Fix side velocity sign in follow_left_side_track function
- Uncomment and update run_task_test in main.py
- Update initial heading in task_left_line.py

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, target_distance=540, speed=0.3, max_time=3, 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
     
@@ -1370,7 +1370,7 @@ def follow_left_side_track(ctrl, msg, target_distance=540, speed=0.3, max_time=3
             # 设置速度命令 - [前进速度, 侧向速度, 角速度]
             # 侧向速度为正表示向左移动，为负表示向右移动
             # 前进速度保持为0，只进行侧向移动
-            msg.vel_des = [0, -side_velocity, 0]
+            msg.vel_des = [0, side_velocity, 0]
             
             # 使用轨迹线斜率进行小角度调整，确保机器人方向与轨迹线平行
             if not track_info["is_vertical"]:  # 对于非垂直线，进行角度校正

main.py

@@ -39,13 +39,13 @@ def main():
         Ctrl.base_msg.stop()  # BUG 垃圾指令 for eat
         
         # time.sleep(100) # TEST 
-        run_task_1(Ctrl, msg)
+        # run_task_1(Ctrl, msg)
 
         # run_task_2_5(Ctrl, msg)
 
         # run_task_4(Ctrl, msg)
 
-        # run_task_test(Ctrl, msg)
+        run_task_test(Ctrl, msg)
 
         # time.sleep(100)
 

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, 90, absolute=True)
+    turn_degree(ctrl, msg, 0, absolute=True)
     follow_left_side_track(ctrl, msg)
     # time.sleep(100)