Havoc420mac/mi-task
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havoc420ubuntu 2025-05-18 15:32:54 +00:00
parent 26527e7775
commit aac055c1e0
1 changed files with 4 additions and 3 deletions
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task_1/task_1.py
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@ -69,11 +69,13 @@ def run_task_1(ctrl, msg):
move_distance = 0.3 move_distance = 0.3
move_speed = 0.5 move_speed = 0.5
if not direction: if not direction:
# TODO 这里的校准不一定好用，需要优化 # TODO to check
go_straight_by_hori_line(ctrl, msg, distance=move_distance, speed=move_speed, observe=observe) go_straight_by_hori_line(ctrl, msg, distance=move_distance, speed=move_speed, observe=observe)
else: else:
go_straight(ctrl, msg, distance=move_distance, speed=move_speed, observe=observe) go_straight(ctrl, msg, distance=move_distance, speed=move_speed, observe=observe)
return
section('任务1-5：模拟装货', "停止") section('任务1-5：模拟装货', "停止")
info('机器人躺下，模拟装货过程', "信息") info('机器人躺下，模拟装货过程', "信息")
start_time = time.time() start_time = time.time()
@ -96,7 +98,6 @@ def run_task_1(ctrl, msg):
ctrl=ctrl, ctrl=ctrl,
msg=msg, msg=msg,
radius=res['radius'] * 2, radius=res['radius'] * 2,
#
angle_deg=85, angle_deg=85,
# #
pass_align=True, pass_align=True,
@ -107,7 +108,7 @@ def run_task_1(ctrl, msg):
move_to_hori_line(ctrl, msg, target_distance=0.4, observe=observe) move_to_hori_line(ctrl, msg, target_distance=0.4, observe=observe)
section('任务1-9：90度旋转', "旋转") section('任务1-9：90度旋转', "旋转")
turn_degree(ctrl, msg, degree=90) turn_degree(ctrl, msg, degree=0, absolute=True) # TODO
section('任务1-10: y校准，准备 task-2', "移动") section('任务1-10: y校准，准备 task-2', "移动")
# TODO # TODO