From 91c9896ad01fbfb09591a677c43a4e1315156c00 Mon Sep 17 00:00:00 2001
From: havoc420ubuntu <2993167370@qq.com>
Date: Fri, 16 May 2025 07:59:36 +0000
Subject: [PATCH] refactor(base_move): remove QR code scanning in
 move_base_hori_line

- Remove QR code scanning functionality from arc_turn_around_hori_line function
- Comment out QR code related code in task_1.py
- Adjust base_w value for rotation speed
---
 base_move/move_base_hori_line.py | 15 ++++-----------
 task_1/task_1.py                 |  9 +++++----
 2 files changed, 9 insertions(+), 15 deletions(-)

diff --git a/base_move/move_base_hori_line.py b/base_move/move_base_hori_line.py
index 8537e92..baf250f 100644
--- a/base_move/move_base_hori_line.py
+++ b/base_move/move_base_hori_line.py
@@ -373,13 +373,6 @@ def arc_turn_around_hori_line(ctrl, msg, angle_deg=90, left=True, target_distanc
     else:
         print("跳过对准步骤")
 
-    # 校准后检查是否已经扫描到QR码
-    if scan_qrcode:
-        qr_data, scan_time = ctrl.image_processor.get_last_qr_result()
-        if qr_data:
-            qr_result = qr_data
-            print(f"🔍 校准过程中已扫描到QR码: {qr_data}")
-
     # 2. 检测横线并计算距离
     image = ctrl.image_processor.get_current_image()
     edge_point, edge_info = detect_horizontal_track_edge(image, observe=observe)
@@ -432,10 +425,10 @@ def arc_turn_around_hori_line(ctrl, msg, angle_deg=90, left=True, target_distanc
     
     # 设定角速度（rad/s），可根据实际调整
     # 减小基础角速度，增加精度
-    if angle_deg >= 170:
-        base_w = 0.5  # 大角度旋转时使用更小的基础角速度，提高精度
-    else:
-        base_w = 0.8  # 原来是0.6
+    # if angle_deg >= 170:
+    #     base_w = 0.5  # 大角度旋转时使用更小的基础角速度，提高精度
+    # else:
+    base_w = 0.8  # 原来是0.6
 
     w = base_w if left else -base_w  # 左转为正，右转为负
     
diff --git a/task_1/task_1.py b/task_1/task_1.py
index 1c4069e..c65b8e7 100644
--- a/task_1/task_1.py
+++ b/task_1/task_1.py
@@ -14,9 +14,9 @@ observe = True
 def run_task_1(ctrl, msg):
     print('🐶 Running task 1...')
 
-    # # v2
-    # print('😺 task 1 - 1')
-    # # 在 arc_turn_around_hori_line 中启用 QR 码扫描
+    # v2
+    print('😺 task 1 - 1')
+    # 在 arc_turn_around_hori_line 中启用 QR 码扫描
     # turn_success, qr_result = arc_turn_around_hori_line(
     #     ctrl=ctrl,
     #     msg=msg,
@@ -26,6 +26,7 @@ def run_task_1(ctrl, msg):
     #     scan_qrcode=True,  # 启用 QR 码扫描
     #     qr_check_interval=0.3  # 每 0.3 秒检查一次扫描结果
     # )
+    # return
     
     # if qr_result:
     #     print(f"🎯 在任务 1-1 中成功扫描到 QR 码: {qr_result}")
@@ -45,7 +46,7 @@ def run_task_1(ctrl, msg):
         angle_deg=180,
         target_distance=0.5,
         left=direction,
-        pass_align=True,
+        # pass_align=True,
         observe=observe,
     )