Refactor main.py to comment out task 1 execution, adjust movement parameters in task 2.5 for improved execution, and modify iteration thresholds in task 3 for enhanced stability during operations.

main.py

@@ -51,7 +51,7 @@ def main():
         Ctrl.base_msg.stop()  # BUG 垃圾指令 for eat
 
         # 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 = 'right' # TEST

task_2/task_2.py

@@ -290,7 +290,7 @@ def run_task_2(ctrl, msg, xy_flag=False):
     return arrow_direction
 
 def run_task_2_back(ctrl, msg):
-    # go_to_xy(ctrl, msg, 0.7, 5, speed=0.5, observe=True)
+    go_to_xy(ctrl, msg, 0.7, 5, speed=0.5, observe=True)
     turn_degree_v2(ctrl, msg, -106.5, absolute=True)
 
     print('角度为',ctrl.odo_msg.rpy[2])

task_2_5/task_2_5.py

@@ -39,5 +39,5 @@ def run_task_2_5(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")
     turn_degree_v2(Ctrl, msg, degree=0, absolute=True)
-    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)
+    go_to_x_v2(Ctrl, msg, target_x=1, observe=observe)
+    go_to_y_v2(Ctrl, msg, target_y=5.5, speed=0.5, observe=True)

task_3/task_3.py

@@ -101,8 +101,8 @@ def pass_up_down(ctrl, msg):
         stable_threshold = 8  # 连续15次检测z轴不再增加则认为已经停止
         z_speed_threshold = 0.01  # z轴速度阈值，小于这个值认为已经停止爬升
         climb_speed_threshold = 0.05  # 检测到开始爬坡的速度阈值
-        max_iterations = 210  # 最大循环次数，作为安全保障
-        min_iterations = 180  # 最小循环次数，作为安全保障
+        max_iterations = 180  # 最大循环次数，作为安全保障
+        min_iterations = 170  # 最小循环次数，作为安全保障
 
         # 姿态判断参数
         pitch_threshold = 0.05  # 俯仰角阈值（弧度）