refactor(main, task_2, task_test): update navigation functions and parameters

- Comment out run_go_to_xy_example in main.py to streamline execution flow.
- Adjust target coordinates in run_go_to_xy_example for improved navigation accuracy.
- Refactor run_task_2 to include calls to go_to_xy and turn_degree for enhanced movement control.

main.py

@@ -25,7 +25,7 @@ from task_2.task_2 import run_task_2
 from task_2_5.task_2_5 import run_task_2_5
 from task_4.task_4 import run_task_4
 from task_test.task_left_line import run_task_test
-from task_test.go_to_xy_example import run_go_to_xy_example
+# from task_test.go_to_xy_example import run_go_to_xy_example
 
 pass_marker = True
 
@@ -52,7 +52,6 @@ def main():
         # run_task_test(Ctrl, msg)
         
         # 坐标导航示例
-        run_go_to_xy_example(Ctrl, msg)
 
         # time.sleep(100)
 

task_2/task_2.py

@@ -3,15 +3,9 @@ import sys
 import os
 import math
 
-# sys.path.append(os.path.dirname(os.path.dirname(os.path.abspath(__file__))))
-# from base_move.move_base_hori_line import (
-#     arc_turn_around_hori_line,
-#     go_straight_by_hori_line,
-#     move_to_hori_line,
-#     align_to_horizontal_line
-# )
-# from base_move.go_straight import go_straight
-# from base_move.turn_degree import turn_degree
+sys.path.append(os.path.dirname(os.path.dirname(os.path.abspath(__file__))))
+from base_move.go_to_xy import go_to_xy
+from base_move.turn_degree import turn_degree
 from utils.log_helper import LogHelper, get_logger, section, info, debug, warning, error, success, timing
 
 # 创建本模块特定的日志记录器
@@ -21,6 +15,11 @@ observe = True
 
 def run_task_2(ctrl, msg):
 
+    # 微调 xy 和角度
+
+    go_to_xy(ctrl, msg, 0.9, 0.2, speed=0.5, observe=True)
+    turn_degree(ctrl, msg, 0, absolute=True, observe=True)
+
     # print("Recovery stand")
     # Ctrl.base_msg.stand_up()
     
@@ -52,7 +51,6 @@ def run_task_2(ctrl, msg):
     # time.sleep(1)
 
     #获取微调角度
-    
 
     # 连续三重弯道行走
     directions = [

task_test/go_to_xy_example.py

@@ -25,7 +25,7 @@ def run_go_to_xy_example(ctrl, msg):
     try:
         # 示例1：简单导航到一个目标点
         section('示例1：简单导航', "开始")
-        target_x, target_y = 0.8, 0.2  # 前进1米
+        target_x, target_y = 0.85, 0.2  # 前进1米
         info(f"移动到坐标点: ({target_x}, {target_y})", "目标")
         
         nav_success = go_to_xy(ctrl, msg, target_x, target_y, speed=0.5, observe=True)