Havoc420mac/mi-task
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Update .gitignore to include 'example/' directory and adjust movement parameters in task 4 and task 5 for improved control. Comment out a function call in main.py for clarity.

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havoc420ubuntu 2025-05-31 14:26:58 +00:00
parent 7ee061ffa9
commit 77bee57da9
4 changed files with 9 additions and 5 deletions
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1
.gitignore vendored
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@ -3,3 +3,4 @@ __pycache__/
*$py.class *$py.class
/logs/image/* /logs/image/*
example/

2
main.py
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@ -71,7 +71,7 @@ def main():
else: else:
run_task_4_back(Ctrl, msg) run_task_4_back(Ctrl, msg)
run_task_2_5_back(Ctrl, msg, direction=arrow_direction) # run_task_2_5_back(Ctrl, msg, direction=arrow_direction)
# run_task_2_back(Ctrl, msg) # run_task_2_back(Ctrl, msg)

5
task_4/task_4.py
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@ -56,7 +56,7 @@ def run_task_4_back(ctrl, msg):
# 向右移动0.5秒 # 向右移动0.5秒
section('任务4-回程：向右移动', "移动") section('任务4-回程：向右移动', "移动")
go_lateral(ctrl, msg, distance=-0.1, speed=0.1, observe=True) # DEBUG go_lateral(ctrl, msg, distance=-0.1, speed=0.15, observe=True) # DEBUG
turn_degree_v2(ctrl, msg, degree=-90, absolute=True) turn_degree_v2(ctrl, msg, degree=-90, absolute=True)
@ -67,9 +67,12 @@ def run_task_4_back(ctrl, msg):
turn_degree_v2(ctrl, msg, degree=-90, absolute=True) turn_degree_v2(ctrl, msg, degree=-90, absolute=True)
pass_bar(ctrl, msg) pass_bar(ctrl, msg)
turn_degree_v2(ctrl, msg, degree=90, absolute=True)
section('任务4-3：stone', "移动") section('任务4-3：stone', "移动")
go_straight(ctrl, msg, distance=1, speed=2) go_straight(ctrl, msg, distance=1, speed=2)
turn_degree_v2(ctrl, msg, degree=90, absolute=True)
# Use enhanced calibration for better Y-axis correction on stone path # Use enhanced calibration for better Y-axis correction on stone path
go_straight(ctrl, msg, distance=4.5, speed=0.35, mode=11, gait_id=3, step_height=[0.21, 0.21], observe=True) go_straight(ctrl, msg, distance=4.5, speed=0.35, mode=11, gait_id=3, step_height=[0.21, 0.21], observe=True)
# go_straight_with_enhanced_calibration(ctrl, msg, distance=4.5, speed=0.35, # go_straight_with_enhanced_calibration(ctrl, msg, distance=4.5, speed=0.35,

4
task_5/task_5.py
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@ -246,11 +246,11 @@ def run_task_5(ctrl, msg, direction='left', observe=False):
move_to_hori_line(ctrl, msg, target_distance=1.35, observe=observe) move_to_hori_line(ctrl, msg, target_distance=1.35, observe=observe)
section('任务5-5：转弯', "转弯") section('任务5-5：转弯', "转弯")
turn_degree_v2(ctrl, msg, degree=90) turn_degree_v2(ctrl, msg, degree=-90, absolute=True)
go_straight(ctrl, msg, distance=1.2, speed=0.6, observe=observe) go_straight(ctrl, msg, distance=1.2, speed=0.6, observe=observe)
section('任务5-6：转弯', "转弯") section('任务5-6：转弯', "转弯")
arc_turn_around_hori_line(ctrl, msg, angle_deg=-90, target_distance=0.3, observe=observe) arc_turn_around_hori_line(ctrl, msg, angle_deg=-85, target_distance=0.3, observe=observe)
section('任务5-5：上货', "卸货") section('任务5-5：上货', "卸货")
ctrl.base_msg.lie_down(wait_time=SLEEP_TIME) ctrl.base_msg.lie_down(wait_time=SLEEP_TIME)