Havoc420mac/mi-task
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Enhance main.py and task functions by removing commented-out code and refining movement logic. Update task 2.5 to utilize a new turning function and adjust iteration parameters in task 3 for improved execution flow and clarity.

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havoc420ubuntu 2025-05-31 15:55:00 +00:00
parent 580ebb39e3
commit beb0c1b9f1
3 changed files with 9 additions and 9 deletions
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10
main.py
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@ -51,13 +51,13 @@ def main():
Ctrl.base_msg.stop() # BUG 垃圾指令 for eat
# time.sleep(100) # TEST,
# run_task_1(Ctrl, msg, time_sleep=TIME_SLEEP)
run_task_1(Ctrl, msg, time_sleep=TIME_SLEEP)
# arrow_direction = run_task_2(Ctrl, msg, xy_flag=False)
arrow_direction = 'right' # TEST
arrow_direction = run_task_2(Ctrl, msg, xy_flag=False)
# arrow_direction = 'right' # TEST
# info(f"识别到箭头方向: {arrow_direction}", "info")
# run_task_2_5(Ctrl, msg, direction=arrow_direction)
info(f"识别到箭头方向: {arrow_direction}", "info")
run_task_2_5(Ctrl, msg, direction=arrow_direction)
if arrow_direction == 'left':
run_task_4(Ctrl, msg)

4
task_2_5/task_2_5.py
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@ -14,11 +14,10 @@ observe = True
def run_task_2_5(Ctrl, msg, direction='left'):
section('任务2.5：预备进入任务3', "启动")
go_straight(Ctrl, msg, distance=-0.1, speed=0.5, observe=observe)
# TEST
turn_degree(Ctrl, msg, 90, absolute=observe)
turn_degree_v2(Ctrl, msg, 90, absolute=observe)
section('任务2.5-1：第一次旋转', "移动")
@ -29,6 +28,7 @@ def run_task_2_5(Ctrl, msg, direction='left'):
target_distance=0.2,
detect_func_version=3,
observe=observe,
no_end_reset=True,
)
go_straight(Ctrl, msg, distance=0.2, speed=0.5, observe=observe)

4
task_3/task_3.py
View File

@ -101,8 +101,8 @@ def pass_up_down(ctrl, msg):
stable_threshold = 8 # 连续15次检测z轴不再增加则认为已经停止
z_speed_threshold = 0.01 # z轴速度阈值，小于这个值认为已经停止爬升
climb_speed_threshold = 0.05 # 检测到开始爬坡的速度阈值
max_iterations = 320 # 最大循环次数，作为安全保障
min_iterations = 250 # 最小循环次数，作为安全保障
max_iterations = 180 # 最大循环次数，作为安全保障
min_iterations = 170 # 最小循环次数，作为安全保障
# 姿态判断参数
pitch_threshold = 0.05 # 俯仰角阈值（弧度）