Havoc420mac/mi-task
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Refactor main.py and task_3.py to comment out unused code, adjust target coordinates, and implement y-coordinate adjustments for improved task execution and clarity.

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havoc420ubuntu 2025-06-01 06:50:42 +00:00
parent 41da8566a9
commit 9ce1a04fb4
2 changed files with 8 additions and 7 deletions
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2
main.py
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@ -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

13
task_3/task_3.py
View File

@ -97,7 +97,8 @@ def pass_up_down(ctrl, msg):
climb_speed_threshold = 0.05 # 检测到开始爬坡的速度阈值
max_iterations = 450 # 最大循环次数，作为安全保障
y_target = 9.3 # 目标y坐标，达到此值时停止
start_y = ctrl.odo_msg.xyz[1]
y_target = 2 # 目标y坐标，达到此值时停止
# 阶段控制
climbing_detected = False # 是否检测到正在爬坡
@ -114,7 +115,7 @@ def pass_up_down(ctrl, msg):
# 获取当前状态数据
vz = ctrl.odo_msg.vxyz[2] # Z轴速度
current_height = ctrl.odo_msg.xyz[2] # 当前高度
current_y = ctrl.odo_msg.xyz[1] # 当前y坐标
current_y = ctrl.odo_msg.xyz[1] - start_y # 当前y坐标
current_pitch = ctrl.odo_msg.rpy[1] # 当前俯仰角
# 每10次迭代打印一次当前信息
@ -204,8 +205,7 @@ def pass_up_down(ctrl, msg):
descent_speed_threshold = -0.05 # 检测到开始下坡的速度阈值（负值表示下降）
max_iterations = 200 # 最大循环次数，作为安全保障
start_height = ctrl.odo_msg.xyz[2] # 记录起始高度
start_y = ctrl.odo_msg.xyz[1] # 记录起始y坐标
y_target = 11.6 # 目标y坐标，达到此值时停止
y_target = 4 # 目标y坐标，达到此值时停止
# 阶段控制
descending_detected = False # 是否检测到正在下坡
@ -220,7 +220,7 @@ def pass_up_down(ctrl, msg):
# 获取当前状态数据
vz = ctrl.odo_msg.vxyz[2] # Z轴速度
current_height = ctrl.odo_msg.xyz[2] # 当前高度
current_y = ctrl.odo_msg.xyz[1] # 当前y坐标
current_y = ctrl.odo_msg.xyz[1] - start_y # 当前y坐标
current_pitch = ctrl.odo_msg.rpy[1] # 当前俯仰角
# 每10次迭代打印一次当前信息
@ -414,9 +414,10 @@ def run_task_3(ctrl, msg, time_sleep=5000):
info('开始执行任务3...', "启动")
turn_degree_v2(ctrl, msg, 90, absolute=True)
go_straight(ctrl, msg, distance=0.1, speed=0.5, observe=True)
# go_straight(ctrl, msg, distance=0.1, speed=0.5, observe=True)
section('任务3-1：up', "开始")
ctrl.odo_reset()
pass_up_down(ctrl, msg)
turn_degree_v2(ctrl, msg, 90, absolute=True)