From b392453b620f0954f1d4b6deb531e2ecfb29efc3 Mon Sep 17 00:00:00 2001 From: Havoc <2993167370@qq.com> Date: Sat, 31 May 2025 22:22:53 +0800 Subject: [PATCH] =?UTF-8?q?=E6=9B=B4=E6=96=B0=E4=BB=BB=E5=8A=A1=E5=87=BD?= =?UTF-8?q?=E6=95=B0=EF=BC=8C=E7=BB=9F=E4=B8=80=E6=97=B6=E9=97=B4=E5=8F=82?= =?UTF-8?q?=E6=95=B0=E4=B8=BA=E5=8F=AF=E9=85=8D=E7=BD=AE=E7=9A=84=20time?= =?UTF-8?q?=5Fsleep=20=E5=8F=98=E9=87=8F=EF=BC=8C=E4=BB=A5=E6=8F=90?= =?UTF-8?q?=E9=AB=98=E4=BB=A3=E7=A0=81=E7=81=B5=E6=B4=BB=E6=80=A7=E5=92=8C?= =?UTF-8?q?=E5=8F=AF=E7=BB=B4=E6=8A=A4=E6=80=A7=E3=80=82=E8=B0=83=E6=95=B4?= =?UTF-8?q?=E4=B8=BB=E7=A8=8B=E5=BA=8F=E4=B8=AD=E7=9A=84=E4=BB=BB=E5=8A=A1?= =?UTF-8?q?=E8=B0=83=E7=94=A8=EF=BC=8C=E7=A1=AE=E4=BF=9D=E4=B8=80=E8=87=B4?= =?UTF-8?q?=E6=80=A7=E5=92=8C=E5=8F=AF=E8=AF=BB=E6=80=A7=E3=80=82?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- main.py | 11 ++++++----- task_1/task_1.py | 8 ++++---- task_3/task_3.py | 4 ++-- task_5/task_5.py | 4 ++-- 4 files changed, 14 insertions(+), 13 deletions(-) diff --git a/main.py b/main.py index 9f70f0e..8f4deea 100644 --- a/main.py +++ b/main.py @@ -35,6 +35,7 @@ from base_move.turn_degree import turn_degree, turn_degree_v2 from utils.log_helper import info pass_marker = True +TIME_SLEEP = 3000 def main(): rclpy.init() # 新增：在主程序中统一初始化 ROS 2 上下文 @@ -48,7 +49,7 @@ def main(): Ctrl.base_msg.stop() # BUG 垃圾指令 for eat # time.sleep(100) # TEST, - # run_task_1(Ctrl, msg) + run_task_1(Ctrl, msg, time_sleep=TIME_SLEEP) # arrow_direction = run_task_2(Ctrl, msg, xy_flag=False) # arrow_direction = 'right' # TEST @@ -59,12 +60,12 @@ def main(): # if arrow_direction == 'left': # run_task_4(Ctrl, msg) # else: - # run_task_3(Ctrl, msg) + # run_task_3(Ctrl, msg, time_sleep=TIME_SLEEP) # turn_degree_v2(Ctrl, msg, degree=90, absolute=True) - # run_task_5(Ctrl, msg, direction=arrow_direction) + # run_task_5(Ctrl, msg, direction=arrow_direction, time_sleep=TIME_SLEEP) - # if arrow_direction == 'left': + # if arrow_direction == 'left': # run_task_3_back(Ctrl, msg) # else: # run_task_4_back(Ctrl, msg) @@ -73,7 +74,7 @@ def main(): run_task_2_back(Ctrl, msg) - run_task_1_back(Ctrl, msg) + run_task_1_back(Ctrl, msg, time_sleep=TIME_SLEEP) except KeyboardInterrupt: print("\n程序被用户中断") diff --git a/task_1/task_1.py b/task_1/task_1.py index 7d92b33..113dd74 100644 --- a/task_1/task_1.py +++ b/task_1/task_1.py @@ -22,7 +22,7 @@ logger = get_logger("任务1") observe = True -def run_task_1(ctrl, msg): +def run_task_1(ctrl, msg, time_sleep=5000): section('任务1：寻找横线并绕行', "启动") info('开始执行任务1...', "启动") @@ -90,7 +90,7 @@ def run_task_1(ctrl, msg): 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") start_time = time.time() - ctrl.base_msg.lie_down(wait_time=3000) # TODO 比赛时改成 5s + ctrl.base_msg.lie_down(wait_time=time_sleep) # TODO 比赛时改成 5s elapsed = time.time() - start_time timing("装货过程", elapsed) @@ -134,7 +134,7 @@ def run_task_1(ctrl, msg): success("任务1完成", "完成") -def run_task_1_back(ctrl, msg): +def run_task_1_back(ctrl, msg, time_sleep=5000): section('任务1-11: 返回', "移动") go_straight(ctrl, msg, distance=0.2, observe=observe) turn_degree_v2(ctrl, msg, -90, absolute=True) @@ -164,7 +164,7 @@ def run_task_1_back(ctrl, msg): section('任务1-14: 模拟装货', "停止") info('机器人躺下，模拟装货过程', "信息") start_time = time.time() - ctrl.base_msg.lie_down(wait_time=3000) # TODO 比赛时改成 5s + ctrl.base_msg.lie_down(wait_time=time_sleep) elapsed = time.time() - start_time timing("装货过程", elapsed) diff --git a/task_3/task_3.py b/task_3/task_3.py index 9be74aa..cdf21db 100644 --- a/task_3/task_3.py +++ b/task_3/task_3.py @@ -490,7 +490,7 @@ def go_until_yellow_area(ctrl, msg, yellow_ratio_threshold=0.15, speed=0.3, max_ return False -def run_task_3(ctrl, msg): +def run_task_3(ctrl, msg, time_sleep=5000): section('任务3：上下坡', "启动") info('开始执行任务3...', "启动") @@ -517,7 +517,7 @@ def run_task_3(ctrl, msg): ctrl.Send_cmd(msg) info("开始原地站立3秒", "站立") - time.sleep(3) + time.sleep(time_sleep / 1000) info("完成原地站立", "站立") diff --git a/task_5/task_5.py b/task_5/task_5.py index 2d70185..f886c11 100644 --- a/task_5/task_5.py +++ b/task_5/task_5.py @@ -206,7 +206,7 @@ def go_straight_to_horizontal_line_with_qr(ctrl, msg, target_distance=0.5, speed return res['success'], qr_result, res -def run_task_5(ctrl, msg, direction='left', observe=False): +def run_task_5(ctrl, msg, direction='left', observe=False, time_sleep=5000): """ 走向卸货 """ @@ -239,7 +239,7 @@ def run_task_5(ctrl, msg, direction='left', observe=False): move_to_hori_line(ctrl, msg, target_distance=2, observe=observe, detect_func_version=4) section('任务5-3：卸货', "卸货") - ctrl.base_msg.lie_down(wait_time=3000) + ctrl.base_msg.lie_down(wait_time=time_sleep) ctrl.base_msg.stand_up() # section('任务5-4：返回', "移动")