Havoc420mac/mi-task
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test: 附身直走步态

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havocrao 2025-08-18 12:55:14 +08:00
parent 976cb8b3ea
commit 8db26c1587
2 changed files with 21 additions and 21 deletions
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40
main.py
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@ -29,7 +29,7 @@ from task_2_5.task_2_5 import run_task_2_5, run_task_2_5_back
from task_4.task_4 import run_task_4, run_task_4_back from task_4.task_4 import run_task_4, run_task_4_back
from task_test.task_left_line import run_task_test from task_test.task_left_line import run_task_test
from task_5.task_5 import run_task_5 from task_5.task_5 import run_task_5
from task_4.pass_bar import pass_bar
from base_move.turn_degree import turn_degree, turn_degree_v2 from base_move.turn_degree import turn_degree, turn_degree_v2
from base_move.center_on_dual_tracks import center_on_dual_tracks from base_move.center_on_dual_tracks import center_on_dual_tracks
from base_move.go_to_xy import go_to_x_v2, go_to_y_v2 from base_move.go_to_xy import go_to_x_v2, go_to_y_v2
@ -50,33 +50,35 @@ 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
pass_bar(Ctrl, msg)
# 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)
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)
run_task_1_back(Ctrl, msg, time_sleep=TIME_SLEEP) # run_task_1_back(Ctrl, msg, time_sleep=TIME_SLEEP)
except KeyboardInterrupt: except KeyboardInterrupt:
print("\n程序被用户中断") print("\n程序被用户中断")

2
task_4/task_4.py
View File

@ -40,7 +40,6 @@ def run_task_4(ctrl, msg):
section('任务4-3：通过栏杆', "移动") section('任务4-3：通过栏杆', "移动")
pass_bar(ctrl, msg) pass_bar(ctrl, msg)
def run_task_4_back(ctrl, msg): def run_task_4_back(ctrl, msg):
""" """
参数: 参数:
@ -86,7 +85,6 @@ def run_task_4_back(ctrl, msg):
current_distance = calculate_distance_to_line(edge_info, camera_height, observe=True) current_distance = calculate_distance_to_line(edge_info, camera_height, observe=True)
go_straight(ctrl, msg, distance=current_distance, speed=0.20, mode=11, gait_id=3, step_height=[0.21, 0.21]) go_straight(ctrl, msg, distance=current_distance, speed=0.20, mode=11, gait_id=3, step_height=[0.21, 0.21])
def go_straight_until_sky_ratio_below(ctrl, msg, def go_straight_until_sky_ratio_below(ctrl, msg,
sky_ratio_threshold=0.2, sky_ratio_threshold=0.2,
step_distance=0.5, step_distance=0.5,