Havoc420mac/mi-task
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refactor(main, task_2, task_test): update navigation functions and parameters

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- 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.
This commit is contained in:
havoc420ubuntu 2025-05-26 15:32:45 +00:00
parent 55491ae859
commit a1e9121761
3 changed files with 10 additions and 13 deletions
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3
main.py
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@ -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_2_5.task_2_5 import run_task_2_5
from task_4.task_4 import run_task_4 from task_4.task_4 import run_task_4
from task_test.task_left_line import run_task_test 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 pass_marker = True
@ -52,7 +52,6 @@ def main():
# run_task_test(Ctrl, msg) # run_task_test(Ctrl, msg)
# 坐标导航示例 # 坐标导航示例
run_go_to_xy_example(Ctrl, msg)
# time.sleep(100) # time.sleep(100)

18
task_2/task_2.py
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@ -3,15 +3,9 @@ import sys
import os import os
import math import math
# sys.path.append(os.path.dirname(os.path.dirname(os.path.abspath(__file__)))) sys.path.append(os.path.dirname(os.path.dirname(os.path.abspath(__file__))))
# from base_move.move_base_hori_line import ( from base_move.go_to_xy import go_to_xy
# arc_turn_around_hori_line, from base_move.turn_degree import turn_degree
# 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
from utils.log_helper import LogHelper, get_logger, section, info, debug, warning, error, success, timing 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 # 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): 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") # print("Recovery stand")
# Ctrl.base_msg.stand_up() # Ctrl.base_msg.stand_up()
@ -52,7 +51,6 @@ def run_task_2(ctrl, msg):
# time.sleep(1) # time.sleep(1)
#获取微调角度 #获取微调角度
# 连续三重弯道行走 # 连续三重弯道行走
directions = [ directions = [

2
task_test/go_to_xy_example.py
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@ -25,7 +25,7 @@ def run_go_to_xy_example(ctrl, msg):
try: try:
# 示例1：简单导航到一个目标点 # 示例1：简单导航到一个目标点
section('示例1：简单导航', "开始") 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") 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) nav_success = go_to_xy(ctrl, msg, target_x, target_y, speed=0.5, observe=True)