From 9ce1a04fb4d23ed1365574a191ca84c77af50a16 Mon Sep 17 00:00:00 2001
From: havoc420ubuntu <2993167370@qq.com>
Date: Sun, 1 Jun 2025 06:50:42 +0000
Subject: [PATCH] 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.

---
 main.py          |  2 +-
 task_3/task_3.py | 13 +++++++------
 2 files changed, 8 insertions(+), 7 deletions(-)

diff --git a/main.py b/main.py
index a302b04..eaffc5a 100644
--- a/main.py
+++ b/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
diff --git a/task_3/task_3.py b/task_3/task_3.py
index 4d97b16..e9ed4dd 100644
--- a/task_3/task_3.py
+++ b/task_3/task_3.py
@@ -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)