Havoc420mac/mi-task
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feat: 更新主程序，整合任务流程，添加任务2和任务1的回退逻辑，优化箭头方向处理

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havocrao 2025-08-20 01:34:19 +08:00
parent b23526ff9d
commit 64b1852d2e
1 changed files with 46 additions and 27 deletions
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73
main.py
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@ -45,53 +45,72 @@ def main():
msg = robot_control_cmd_lcmt()
print('2')
try:
# TEST
# print('yuyin')
# cv_image = Ctrl.image_processor.get_current_image('ai')
# print('111')
# cv2.imwrite(f"saved_images/firstai.jpg", cv_image)
# print('try out')
# speak('nihao')
info("Recovery stand", "info")
Ctrl.base_msg.stand_up()
Ctrl.base_msg.stop() # BUG 垃圾指令 for eat # INFO 但是正式比赛或许也有用
# TAG task - 1
run_task_1(Ctrl, msg, time_sleep=TIME_SLEEP)
# TEST
# go_straight_with_enhanced_calibration(Ctrl, msg, distance = 5, speed=0.5, observe=False, mode=11, gait_id=3, step_height=[0.21, 0.21])
# pass_up_down(Ctrl, msg)
# pass_bar(Ctrl, msg)
# run_task_2(Ctrl, msg)
# TAG task - 0
info("Recovery stand", "info")
Ctrl.base_msg.stand_up()
Ctrl.base_msg.stop() # BUG 垃圾指令 for eat # INFO 但是正式比赛或许也有用
# TAG task - 1
run_task_1(Ctrl, msg, time_sleep=TIME_SLEEP)
# TAG task - 2
arrow_direction = run_task_2_demo(Ctrl, msg, xy_flag=False)
# print(arrow_direction)
# arrow_direction = run_task_2(Ctrl, msg, xy_flag=False)
# arrow_direction = 'right' # TEST
# arrow_direction = run_task_2_demo(Ctrl, msg, xy_flag=False) # TEST
arrow_direction = run_task_2(Ctrl, msg, xy_flag=False)
print('🏹 arrow_direction: ', arrow_direction)
# info(f"识别到箭头方向: {arrow_direction}", "info")
# run_task_2_5(Ctrl, msg, direction='right')
# if arrow_direction == 'left':
# run_task_4(Ctrl, msg)
# else:
# run_task_3(Ctrl, msg, time_sleep=TIME_SLEEP)
# TAG task - 2.5
run_task_2_5(Ctrl, msg, direction=arrow_direction)
# turn_degree_v2(Ctrl, msg, degree=90, absolute=True)
# run_task_5(Ctrl, msg, direction=arrow_direction, time_sleep=TIME_SLEEP)
# arrow_direction = 'left'
# if arrow_direction == 'left':
# run_task_3_back(Ctrl, msg)
# else:
# run_task_4_back(Ctrl, msg)
# run_task_2_5_back(Ctrl, msg, direction=arrow_direction)
# TAG task - 3 / 4 - part I
if arrow_direction == 'left':
run_task_4(Ctrl, msg)
else:
run_task_3(Ctrl, msg, time_sleep=TIME_SLEEP) # 直接上下坡，然后走到 黄灯前原地踏步的部分
# run_task_2_back(Ctrl, msg)
# run_task_1_back(Ctrl, msg, time_sleep=TIME_SLEEP)
# TAG task - 5
turn_degree_v2(Ctrl, msg, degree=90, absolute=True)
run_task_5(Ctrl, msg, direction=arrow_direction, time_sleep=TIME_SLEEP) # B区任务
# TAG task - 3 / 4 - part II
if arrow_direction == 'left':
run_task_4_back(Ctrl, msg)
else:
run_task_3_back(Ctrl, msg)
# TAG task - 2.5 - back
run_task_2_5_back(Ctrl, msg, direction=arrow_direction)
# TAG task - 2 - back
run_task_2_back(Ctrl, msg)
# TAG task - 1 - back
run_task_1_back(Ctrl, msg, time_sleep=TIME_SLEEP)
print('🏁 Task finished.')
except KeyboardInterrupt:
print("\n程序被用户中断")