From 88717f2a32f6d563544332e95c0a87bde5d4b27b Mon Sep 17 00:00:00 2001 From: havoc420ubuntu <2993167370@qq.com> Date: Sat, 31 May 2025 14:55:13 +0000 Subject: [PATCH] Refactor main.py and task functions to improve clarity and control. Comment out unused code and adjust movement parameters in task 5 for better execution. Update task 2.5 to streamline movement logic and enhance readability. --- main.py | 36 +++++++++++++++++++----------------- task_2_5/task_2_5.py | 18 ++++++------------ task_5/task_5.py | 4 ++-- 3 files changed, 27 insertions(+), 31 deletions(-) diff --git a/main.py b/main.py index bd74680..10336ce 100644 --- a/main.py +++ b/main.py @@ -50,27 +50,30 @@ def main(): Ctrl.base_msg.stand_up() Ctrl.base_msg.stop() # BUG 垃圾指令 for eat - # time.sleep(100) # TEST, - run_task_1(Ctrl, msg, time_sleep=TIME_SLEEP) + # # time.sleep(100) # TEST, + # run_task_1(Ctrl, msg, time_sleep=TIME_SLEEP) - arrow_direction = run_task_2(Ctrl, msg, xy_flag=False) - # arrow_direction = 'right' # TEST + # arrow_direction = run_task_2(Ctrl, msg, xy_flag=False) + arrow_direction = 'right' # TEST - info(f"识别到箭头方向: {arrow_direction}", "info") - run_task_2_5(Ctrl, msg, direction=arrow_direction) + # 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': - run_task_4(Ctrl, msg) - else: - run_task_3(Ctrl, msg, time_sleep=TIME_SLEEP) + # if arrow_direction == 'left': + # run_task_4(Ctrl, msg) + # else: + # run_task_3(Ctrl, msg, time_sleep=TIME_SLEEP) - turn_degree_v2(Ctrl, msg, degree=90, absolute=True) - run_task_5(Ctrl, msg, direction=arrow_direction, time_sleep=TIME_SLEEP) + # turn_degree_v2(Ctrl, msg, degree=90, absolute=True) + # run_task_5(Ctrl, msg, direction=arrow_direction, time_sleep=TIME_SLEEP) - if arrow_direction == 'left': - run_task_3_back(Ctrl, msg) - else: - run_task_4_back(Ctrl, msg) + # if arrow_direction == 'left': + # run_task_3_back(Ctrl, msg) + # else: + # run_task_4_back(Ctrl, msg) + + go_to_y_v2(Ctrl, msg, target_y=5.5, speed=0.5, observe=True) + # turn_degree_v2(Ctrl, msg, degree=-90, absolute=True) run_task_2_5_back(Ctrl, msg, direction=arrow_direction) @@ -104,7 +107,6 @@ class Robot_Ctrl(object): self.image_processor = ImageProcessor() # DEBUG # self.marker_runner = MarkerRunner(pass_flag=pass_marker) - # self.marker_runner = MarkerRunner(pass_flag=pass_marker) self.send_lock = Lock() self.delay_cnt = 0 self.mode_ok = 0 diff --git a/task_2_5/task_2_5.py b/task_2_5/task_2_5.py index d55948e..902f7a2 100644 --- a/task_2_5/task_2_5.py +++ b/task_2_5/task_2_5.py @@ -37,19 +37,13 @@ def run_task_2_5(Ctrl, msg, direction='left'): turn_degree_v2(Ctrl, msg, degree=90, absolute=True) - # arc_turn_around_hori_line( - # Ctrl, - # msg, - # angle_deg=70, - # # target_distance=0.5, - # pass_align=True, - # radius=res['radius'], - # detect_func_version=2, - # observe=observe, - # ) + go_straight(Ctrl, msg, distance=0.1, speed=0.5, observe=observe) + def run_task_2_5_back(Ctrl, msg, direction='left'): section('任务2.5-back：预备进入任务3', "启动") - turn_degree_v2(Ctrl, msg, degree=-90, absolute=True) + # turn_degree_v2(Ctrl, msg, degree=-90, absolute=True) - go_to_x_v2(Ctrl, msg, target_x=0.8, observe=observe) + go_to_x_v2(Ctrl, msg, target_x=0.7, observe=observe) + + go_to_y_v2(Ctrl, msg, target_y=5, speed=0.5, observe=True) diff --git a/task_5/task_5.py b/task_5/task_5.py index ddd8cdf..3a6933d 100644 --- a/task_5/task_5.py +++ b/task_5/task_5.py @@ -243,10 +243,10 @@ def run_task_5(ctrl, msg, direction='left', observe=False, time_sleep=5000): section('任务5-4：返回', "移动") go_straight(ctrl, msg, distance=-1, speed=0.5, observe=observe) - move_to_hori_line(ctrl, msg, target_distance=1.35, observe=observe) + move_to_hori_line(ctrl, msg, target_distance=1.30, observe=observe) section('任务5-5：转弯', "转弯") - turn_degree_v2(ctrl, msg, degree=90) + turn_degree_v2(ctrl, msg, degree=179, absolute=True) go_straight(ctrl, msg, distance=1.2, speed=0.6, observe=observe) section('任务5-6：转弯', "转弯")