Refactor task execution by standardizing the parameters for the center_on_dual_tracks function across multiple tasks. Enhance movement commands in task 4 for improved control and adjust speed parameters for better responsiveness in task 5. Clean up commented code for clarity.

main.py

@@ -31,6 +31,7 @@ from task_test.task_left_line import run_task_test
 from task_5.task_5 import run_task_5
 
 from base_move.turn_degree import turn_degree, turn_degree_v2
+from base_move.center_on_dual_tracks import center_on_dual_tracks
 
 from utils.log_helper import info
 
@@ -47,7 +48,7 @@ def main():
         Ctrl.base_msg.stand_up()
         Ctrl.base_msg.stop()  # BUG 垃圾指令 for eat
         
-        # time.sleep(100) # TEST,
+        # time.sleep(100) # TEST
         # run_task_1(Ctrl, msg)
 
         # arrow_direction = run_task_2(Ctrl, msg, xy_flag=False)
@@ -56,12 +57,13 @@ def main():
         # info(f"识别到箭头方向: {arrow_direction}", "info")
         # 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)
-        else:
+        # else:
-            run_task_3(Ctrl, msg)
+        #     run_task_3(Ctrl, msg)
 
         turn_degree_v2(Ctrl, msg, degree=90, absolute=True)
+        center_on_dual_tracks(Ctrl, msg, max_deviation=10.0, observe=False)
         run_task_5(Ctrl, msg, direction=arrow_direction)
 
         if arrow_direction == 'left':

task_3/task_3.py

@@ -184,7 +184,7 @@ def pass_up_down(ctrl, msg):
 
     section('任务3-2：x = 2', "开始")
     turn_degree_v2(ctrl, msg, 90, absolute=True)
-    center_on_dual_tracks(ctrl, msg, max_time=15, max_deviation=10.0, observe=False, detect_height=0.3)
+    center_on_dual_tracks(ctrl, msg, max_deviation=10.0, observe=False, detect_height=0.3)
     go_straight(ctrl, msg, distance=0.5, speed=0.5, observe=True)
     time.sleep(1)
 
@@ -501,7 +501,7 @@ def run_task_3(ctrl, msg):
     pass_up_down(ctrl, msg)
 
     turn_degree_v2(ctrl, msg, 90, absolute=True)
-    center_on_dual_tracks(ctrl, msg, max_time=15, max_deviation=10.0, observe=False)
+    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)

task_4/task_4.py

@@ -49,14 +49,19 @@ def run_task_4_back(ctrl, msg):
         image_processor: 可选的图像处理器实例
     """
     turn_degree_v2(ctrl, msg, degree=-90, absolute=True)
-    center_on_dual_tracks(ctrl, msg, max_time=30, observe=False)
+    center_on_dual_tracks(ctrl, msg, max_deviation=10.0, observe=False)
+
+    go_straight(ctrl, msg, distance=2, speed=1, observe=True)
+    center_on_dual_tracks(ctrl, msg, max_deviation=10.0, observe=False)
 
     # 向右移动0.5秒
     section('任务4-回程：向右移动', "移动")
-    # go_lateral(ctrl, msg, distance=-0.3, speed=0.1, observe=True)  # DEBUG
+    go_lateral(ctrl, msg, distance=-0.1, speed=0.1, observe=True)  # DEBUG
+
+    turn_degree_v2(ctrl, msg, degree=-90, absolute=True)
 
     section('任务4-1：移动直到灰色天空比例低于阈值', "天空检测")
-    go_straight_until_sky_ratio_below(ctrl, msg, sky_ratio_threshold=0.35, speed=0.5)
+    go_straight_until_sky_ratio_below(ctrl, msg, sky_ratio_threshold=0.35, speed=0.2)
 
     section('任务4-2：通过栏杆', "移动")
     turn_degree_v2(ctrl, msg, degree=-90, absolute=True)

task_5/task_5.py

@@ -216,7 +216,6 @@ def run_task_5(ctrl, msg, direction='left', observe=False):
     
     # 最大移动距离为8米
     max_distance = 2
-    
     # 开始移动并扫描二维码
     go_success, res = go_straight_with_qrcode(ctrl, msg, distance=max_distance, speed=1, observe=observe)
     
@@ -231,7 +230,7 @@ def run_task_5(ctrl, msg, direction='left', observe=False):
         error("未能成功到达横线前指定距离", "失败")
 
     section('任务5-2：移动到卸货点', "移动")
-    center_on_dual_tracks(ctrl, msg, max_time=15, max_deviation=10.0, observe=False)
+    center_on_dual_tracks(ctrl, msg, max_deviation=10.0, observe=False)
     if direction == 'right' and res['qr_result'] == 'B-2' or direction == 'left' and res['qr_result'] == 'B-1':
         # 直走
         move_to_hori_line(ctrl, msg, target_distance=1.4, observe=observe, detect_func_version=4)