Add go_lateral function for lateral movement control and update task_4.py to utilize it for improved navigation. Cleaned up main.py by removing unnecessary lines and added comments for clarity.
This commit is contained in:
parent
7fe76e0548
commit
ba0994a82b
@ -422,6 +422,164 @@ def go_straight_with_qrcode(ctrl, msg, distance, speed=0.5, observe=False):
|
||||
|
||||
return go_success, res
|
||||
|
||||
def go_lateral(ctrl, msg, distance, speed=0.5, observe=False,
|
||||
mode=11,
|
||||
gait_id=26,
|
||||
step_height=[0.06, 0.06],
|
||||
):
|
||||
"""
|
||||
控制机器人沿y轴方向(侧向)行走指定距离
|
||||
|
||||
参数:
|
||||
ctrl: Robot_Ctrl 对象，包含里程计信息
|
||||
msg: robot_control_cmd_lcmt 对象，用于发送命令
|
||||
distance: 要行走的距离(米)，正值为向左，负值为向右
|
||||
speed: 行走速度(米/秒)，范围0.1~1.0，默认为0.5
|
||||
observe: 是否输出中间状态信息，默认为False
|
||||
|
||||
返回:
|
||||
bool: 是否成功完成行走
|
||||
"""
|
||||
# 参数验证
|
||||
if abs(distance) < 0.01:
|
||||
info("距离太短，无需移动", "信息")
|
||||
return True
|
||||
|
||||
# 限制速度范围
|
||||
speed = min(max(abs(speed), 0.1), 1.0)
|
||||
|
||||
# 确定左移或右移方向
|
||||
leftward = distance > 0
|
||||
move_speed = speed if leftward else -speed
|
||||
abs_distance = abs(distance)
|
||||
|
||||
# 获取起始位置
|
||||
start_position = list(ctrl.odo_msg.xyz)
|
||||
start_yaw = ctrl.odo_msg.rpy[2] # 记录起始朝向，用于保持直线
|
||||
|
||||
if observe:
|
||||
debug(f"起始位置: {start_position}", "位置")
|
||||
info(f"开始{'向左' if leftward else '向右'}移动 {abs_distance:.3f}米，速度: {abs(move_speed):.2f}米/秒", "移动")
|
||||
# 在起点放置标记
|
||||
if hasattr(ctrl, 'place_marker'):
|
||||
ctrl.place_marker(start_position[0], start_position[1],
|
||||
start_position[2] if len(start_position) > 2 else 0.0,
|
||||
'green', observe=True)
|
||||
|
||||
# 设置移动命令
|
||||
msg.mode = mode # Locomotion模式
|
||||
msg.gait_id = gait_id # 自变频步态
|
||||
|
||||
# 根据需要移动的距离动态调整移动速度
|
||||
if abs_distance > 1.0:
|
||||
actual_speed = move_speed # 距离较远时用设定速度
|
||||
elif abs_distance > 0.5:
|
||||
actual_speed = move_speed * 0.8 # 中等距离略微降速
|
||||
elif abs_distance > 0.2:
|
||||
actual_speed = move_speed * 0.6 # 较近距离降低速度
|
||||
else:
|
||||
actual_speed = move_speed * 0.4 # 非常接近时用更慢速度
|
||||
|
||||
# 设置移动速度和方向 - 在y轴方向移动
|
||||
msg.vel_des = [0, actual_speed, 0] # [前进速度, 侧向速度, 角速度]
|
||||
msg.duration = 0 # wait next cmd
|
||||
msg.step_height = step_height # 抬腿高度
|
||||
msg.life_count += 1
|
||||
|
||||
# 发送命令
|
||||
ctrl.Send_cmd(msg)
|
||||
|
||||
# 估算移动时间，但实际上会通过里程计控制
|
||||
estimated_time = abs_distance / abs(actual_speed)
|
||||
timeout = estimated_time + 3 # 增加超时时间为预计移动时间加3秒
|
||||
|
||||
# 使用里程计进行实时监控移动距离
|
||||
distance_moved = 0
|
||||
start_time = time.time()
|
||||
last_position = start_position
|
||||
|
||||
# 动态调整参数
|
||||
angle_correction_threshold = 0.05 # 角度偏差超过多少弧度开始修正
|
||||
slow_down_ratio = 0.85 # 当移动到目标距离的85%时开始减速
|
||||
completion_threshold = 0.95 # 当移动到目标距离的95%时停止
|
||||
position_check_interval = 0.1 # 位置检查间隔(秒)
|
||||
last_check_time = start_time
|
||||
|
||||
# 监控移动距离
|
||||
while distance_moved < abs_distance * completion_threshold and time.time() - start_time < timeout:
|
||||
current_time = time.time()
|
||||
|
||||
# 按固定间隔检查位置，减少计算负担
|
||||
if current_time - last_check_time >= position_check_interval:
|
||||
# 获取当前位置和朝向
|
||||
current_position = ctrl.odo_msg.xyz
|
||||
current_yaw = ctrl.odo_msg.rpy[2]
|
||||
|
||||
# 计算已移动距离
|
||||
dx = current_position[0] - start_position[0]
|
||||
dy = current_position[1] - start_position[1]
|
||||
distance_moved = math.sqrt(dx*dx + dy*dy)
|
||||
|
||||
# 计算完成比例
|
||||
completion_ratio = distance_moved / abs_distance
|
||||
|
||||
# 根据距离完成情况调整速度
|
||||
if completion_ratio > slow_down_ratio:
|
||||
# 计算减速系数
|
||||
slow_factor = 1.0 - (completion_ratio - slow_down_ratio) / (1.0 - slow_down_ratio)
|
||||
# 确保不会减速太多
|
||||
slow_factor = max(0.2, slow_factor)
|
||||
new_speed = actual_speed * slow_factor
|
||||
|
||||
if observe and abs(new_speed - msg.vel_des[1]) > 0.05:
|
||||
info(f"减速: {msg.vel_des[1]:.2f} -> {new_speed:.2f} 米/秒 (完成: {completion_ratio*100:.1f}%)", "移动")
|
||||
|
||||
msg.vel_des[1] = new_speed
|
||||
msg.life_count += 1
|
||||
ctrl.Send_cmd(msg)
|
||||
|
||||
if observe and current_time - start_time > 1 and (current_time % 0.5 < position_check_interval):
|
||||
debug(f"已移动: {distance_moved:.3f}米, 目标: {abs_distance:.3f}米 (完成: {completion_ratio*100:.1f}%)", "距离")
|
||||
debug(f"当前速度: [{msg.vel_des[0]:.2f}, {msg.vel_des[1]:.2f}, {msg.vel_des[2]:.2f}]", "移动")
|
||||
|
||||
# 更新最后检查时间和位置
|
||||
last_check_time = current_time
|
||||
last_position = current_position
|
||||
|
||||
time.sleep(0.01) # 小间隔检查位置
|
||||
|
||||
# 平滑停止
|
||||
if hasattr(ctrl.base_msg, 'stop_smooth'):
|
||||
ctrl.base_msg.stop_smooth()
|
||||
else:
|
||||
ctrl.base_msg.stop()
|
||||
|
||||
# 获取最终位置和实际移动距离
|
||||
final_position = ctrl.odo_msg.xyz
|
||||
dx = final_position[0] - start_position[0]
|
||||
dy = final_position[1] - start_position[1]
|
||||
actual_distance = math.sqrt(dx*dx + dy*dy)
|
||||
|
||||
if observe:
|
||||
success(f"移动完成，从里程计计算的移动距离: {actual_distance:.3f}米", "完成")
|
||||
# 在终点放置标记
|
||||
if hasattr(ctrl, 'place_marker'):
|
||||
ctrl.place_marker(final_position[0], final_position[1],
|
||||
final_position[2] if len(final_position) > 2 else 0.0,
|
||||
'red', observe=True)
|
||||
|
||||
# 判断是否成功完成
|
||||
distance_error = abs(actual_distance - abs_distance)
|
||||
go_success = distance_error < 0.1 # 如果误差小于10厘米，则认为成功
|
||||
|
||||
if observe:
|
||||
info(f"目标距离: {abs_distance:.3f}米, 实际距离: {actual_distance:.3f}米, 误差: {distance_error:.3f}米", "距离")
|
||||
if go_success:
|
||||
success(f"移动成功", "成功")
|
||||
else:
|
||||
warning(f"移动失败，误差过大: {distance_error:.3f}米", "失败")
|
||||
|
||||
return go_success
|
||||
|
||||
# 用法示例
|
||||
if __name__ == "__main__":
|
||||
@ -430,4 +588,8 @@ if __name__ == "__main__":
|
||||
# go_straight(ctrl, msg, 1.0, speed=0.5, observe=True)
|
||||
# 后退0.5米
|
||||
# go_straight(ctrl, msg, -0.5, speed=0.3, observe=True)
|
||||
# 向左移动0.5米
|
||||
# go_lateral(ctrl, msg, 0.5, speed=0.3, observe=True)
|
||||
# 向右移动0.8米
|
||||
# go_lateral(ctrl, msg, -0.8, speed=0.3, observe=True)
|
||||
pass
|
||||
|
||||
1
main.py
1
main.py
@ -57,7 +57,6 @@ def main():
|
||||
# print(f"arrow_direction: {arrow_direction}")
|
||||
# run_task_2_5(Ctrl, msg, direction=arrow_direction)
|
||||
|
||||
|
||||
arrow_direction = 'right' # TEST
|
||||
|
||||
# if arrow_direction == 'left':
|
||||
|
||||
@ -8,7 +8,7 @@ import numpy as np
|
||||
sys.path.append(os.path.dirname(os.path.dirname(os.path.abspath(__file__))))
|
||||
|
||||
from base_move.turn_degree import turn_degree, turn_degree_v2
|
||||
from base_move.go_straight import go_straight
|
||||
from base_move.go_straight import go_straight, go_lateral
|
||||
from utils.log_helper import LogHelper, get_logger, section, info, debug, warning, error, success, timing
|
||||
from utils.gray_sky_analyzer import analyze_gray_sky_ratio
|
||||
from base_move.move_base_hori_line import go_straight_until_hori_line
|
||||
@ -48,9 +48,11 @@ def run_task_4_back(ctrl, msg):
|
||||
image_processor: 可选的图像处理器实例
|
||||
"""
|
||||
turn_degree_v2(ctrl, msg, degree=-90, absolute=True)
|
||||
center_on_dual_tracks(ctrl, msg, max_time=30, observe=False, stone_path_mode=False)
|
||||
# center_on_dual_tracks(ctrl, msg, max_time=30, observe=False, stone_path_mode=False)
|
||||
|
||||
return
|
||||
# 向右移动0.5秒
|
||||
section('任务4-回程：向右移动', "移动")
|
||||
go_lateral(ctrl, msg, distance=-0.3, speed=0.1, observe=True)
|
||||
|
||||
section('任务4-1：移动直到灰色天空比例低于阈值', "天空检测")
|
||||
go_straight_until_sky_ratio_below(ctrl, msg, sky_ratio_threshold=0.35, speed=0.5)
|
||||
@ -58,7 +60,7 @@ def run_task_4_back(ctrl, msg):
|
||||
section('任务4-2：通过栏杆', "移动")
|
||||
pass_bar(ctrl, msg)
|
||||
|
||||
section('任务4-3：跟随轨道', "移动")
|
||||
section('任务4-3：stone', "移动")
|
||||
go_straight(ctrl, msg, distance=1, speed=2)
|
||||
# go_straight_with_visual_track(ctrl, msg, distance=4.5, observe=False,
|
||||
# mode=11,
|
||||
@ -74,7 +76,7 @@ def run_task_4_back(ctrl, msg):
|
||||
ctrl,
|
||||
msg,
|
||||
target_distance=1, # 目标与黄线的距离(米)
|
||||
max_distance=5.0, # 最大搜索距离(米)
|
||||
max_distance=6.0, # 最大搜索距离(米)
|
||||
speed=0.2, # 移动速度(米/秒)
|
||||
mode=11, # 运动模式
|
||||
gait_id=3, # 步态ID（快步跑）
|
||||
@ -82,6 +84,8 @@ def run_task_4_back(ctrl, msg):
|
||||
observe=True # 显示调试信息
|
||||
)
|
||||
|
||||
go_straight(ctrl, msg, distance=0.8, speed=0.2, observe=True, mode=11, gait_id=3, step_height=[0.21, 0.21])
|
||||
|
||||
|
||||
def go_straight_until_sky_ratio_below(ctrl, msg,
|
||||
sky_ratio_threshold=0.2,
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user