Havoc420mac/mi-task
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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.

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havoc420ubuntu 2025-05-31 14:55:13 +00:00
parent 37cf8f3106
commit 88717f2a32
3 changed files with 27 additions and 31 deletions
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36
main.py
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@ -50,27 +50,30 @@ def main():
Ctrl.base_msg.stand_up() Ctrl.base_msg.stand_up()
Ctrl.base_msg.stop() # BUG 垃圾指令 for eat Ctrl.base_msg.stop() # BUG 垃圾指令 for eat
# time.sleep(100) # TEST, # # time.sleep(100) # TEST,
run_task_1(Ctrl, msg, time_sleep=TIME_SLEEP) # run_task_1(Ctrl, msg, time_sleep=TIME_SLEEP)
arrow_direction = run_task_2(Ctrl, msg, xy_flag=False) # arrow_direction = run_task_2(Ctrl, msg, xy_flag=False)
# arrow_direction = 'right' # TEST arrow_direction = 'right' # TEST
info(f"识别到箭头方向: {arrow_direction}", "info") # info(f"识别到箭头方向: {arrow_direction}", "info")
run_task_2_5(Ctrl, msg, direction=arrow_direction) # 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, time_sleep=TIME_SLEEP) # run_task_3(Ctrl, msg, time_sleep=TIME_SLEEP)
turn_degree_v2(Ctrl, msg, degree=90, absolute=True) # turn_degree_v2(Ctrl, msg, degree=90, absolute=True)
run_task_5(Ctrl, msg, direction=arrow_direction, time_sleep=TIME_SLEEP) # run_task_5(Ctrl, msg, direction=arrow_direction, time_sleep=TIME_SLEEP)
if arrow_direction == 'left': # if arrow_direction == 'left':
run_task_3_back(Ctrl, msg) # run_task_3_back(Ctrl, msg)
else: # else:
run_task_4_back(Ctrl, msg) # 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) run_task_2_5_back(Ctrl, msg, direction=arrow_direction)
@ -104,7 +107,6 @@ class Robot_Ctrl(object):
self.image_processor = ImageProcessor() self.image_processor = ImageProcessor()
# DEBUG # DEBUG
# self.marker_runner = MarkerRunner(pass_flag=pass_marker) # self.marker_runner = MarkerRunner(pass_flag=pass_marker)
# self.marker_runner = MarkerRunner(pass_flag=pass_marker)
self.send_lock = Lock() self.send_lock = Lock()
self.delay_cnt = 0 self.delay_cnt = 0
self.mode_ok = 0 self.mode_ok = 0

18
task_2_5/task_2_5.py
View File

@ -37,19 +37,13 @@ def run_task_2_5(Ctrl, msg, direction='left'):
turn_degree_v2(Ctrl, msg, degree=90, absolute=True) turn_degree_v2(Ctrl, msg, degree=90, absolute=True)
# arc_turn_around_hori_line( go_straight(Ctrl, msg, distance=0.1, speed=0.5, observe=observe)
# Ctrl,
# msg,
# angle_deg=70,
# # target_distance=0.5,
# pass_align=True,
# radius=res['radius'],
# detect_func_version=2,
# observe=observe,
# )
def run_task_2_5_back(Ctrl, msg, direction='left'): 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") 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)

4
task_5/task_5.py
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@ -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") section('任务5-4：返回', "移动")
go_straight(ctrl, msg, distance=-1, speed=0.5, observe=observe) 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") 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) 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")