From 92b2d408264ef393079b5f59c57243ed44b6fbbf Mon Sep 17 00:00:00 2001
From: Havoc <2993167370@qq.com>
Date: Wed, 28 May 2025 11:45:55 +0800
Subject: [PATCH] =?UTF-8?q?=E9=87=8D=E6=9E=84task=5F3=E7=9A=84=E6=96=87?=
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---
 task_3/main_ori.py | 12 ++++++------
 task_3/task_3.py   |  6 ------
 2 files changed, 6 insertions(+), 12 deletions(-)

diff --git a/task_3/main_ori.py b/task_3/main_ori.py
index d1b1764..5ce7056 100755
--- a/task_3/main_ori.py
+++ b/task_3/main_ori.py
@@ -27,13 +27,13 @@ robot_cmd = {
     'value':0,  'duration':0
 }
 
-def task_3_main(file_dir=""):
+def task_3_main():
     lcm_cmd = lcm.LCM("udpm://239.255.76.67:7671?ttl=255")
     lcm_usergait = lcm.LCM("udpm://239.255.76.67:7671?ttl=255")
     usergait_msg = file_send_lcmt()
     cmd_msg = robot_control_cmd_lcmt()
     try:
-        steps = toml.load(f"{file_dir}/Gait_Params_up.toml")
+        steps = toml.load(f"Gait_Params_up.toml")
         full_steps = {'step':[robot_cmd]}
         k =0
         for i in steps['step']:
@@ -60,13 +60,13 @@ def task_3_main(file_dir=""):
             else:
                 full_steps['step'].append(cmd)
             k=k+1
-        f = open(f"{file_dir}/Gait_Params_up_full.toml", 'w')
+        f = open(f"Gait_Params_up_full.toml", 'w')
         f.write("# Gait Params\n")
         f.writelines(toml.dumps(full_steps))
         f.close()
 
-        file_obj_gait_def = open(f"{file_dir}/Gait_Def_up.toml",'r')
-        file_obj_gait_params = open(f"{file_dir}/Gait_Params_up_full.toml",'r')
+        file_obj_gait_def = open(f"Gait_Def_up.toml",'r')
+        file_obj_gait_params = open(f"Gait_Params_up_full.toml",'r')
         usergait_msg.data = file_obj_gait_def.read()
         lcm_usergait.publish("user_gait_file",usergait_msg.encode())
         time.sleep(0.5)
@@ -76,7 +76,7 @@ def task_3_main(file_dir=""):
         file_obj_gait_def.close()
         file_obj_gait_params.close()
 
-        user_gait_list = open(f"{file_dir}/Usergait_List.toml",'r')
+        user_gait_list = open(f"Usergait_List.toml",'r')
         steps = toml.load(user_gait_list)
         for step in steps['step']:
             cmd_msg.mode = step['mode']
diff --git a/task_3/task_3.py b/task_3/task_3.py
index 203c071..fe19131 100644
--- a/task_3/task_3.py
+++ b/task_3/task_3.py
@@ -87,12 +87,6 @@ def run_task_3(ctrl, msg):
         file_obj_gait_def.close()
         file_obj_gait_params.close()
 
-        file_obj_gait_params = open("./task_3/Gait_Params_up_full.toml",'r')
-        usergait_msg.data = file_obj_gait_params.read()
-        lcm_usergait.publish("user_gait_file", usergait_msg.encode())
-        time.sleep(0.5)
-        file_obj_gait_params.close()
-
         msg.mode = 62
         msg.value = 0
         msg.contact = 15