back turn degree
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@ -45,146 +45,202 @@ def turn_degree(ctrl, msg, degree=90, absolute=False, precision=False):
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# 如果是精确模式，使用更小的误差阈值
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limit = 0.03 if precision else 0.04 # 约1.7度或2.3度
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# 确定最短旋转方向
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remaining_dist = target_yaw - current_yaw
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if remaining_dist > math.pi:
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remaining_dist -= 2 * math.pi
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elif remaining_dist < -math.pi:
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remaining_dist += 2 * math.pi
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# 如果误差已经在允许范围内，无需旋转
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if abs(remaining_dist) <= limit:
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success(f"当前角度误差已在允许范围内，无需旋转", "成功")
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return True
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# 确定旋转方向和速度
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turn_direction = 1 if remaining_dist > 0 else -1
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# 根据精确模式选择旋转速度
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if precision:
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# 精确模式下，角度较大时使用中等速度，较小时使用慢速
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if abs(remaining_dist) > 0.5: # 大约28度以上
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turn_speed = 0.25
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# 计算最短旋转方向和距离
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def circle_dist(target, location):
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value1 = abs(target - location)
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value2 = 2 * math.pi - value1
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direction1 = 1 if target > location else 0 # 1为逆时针，0为顺时针
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# 计算两个方向哪个距离更短
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if value1 < value2:
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return direction1, value1
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else:
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turn_speed = 0.15
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else:
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# 非精确模式下，角度较大时使用快速，较小时使用中等速度
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if abs(remaining_dist) > 0.5: # 大约28度以上
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turn_speed = 0.5
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return 1 - direction1, value2
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# 获取旋转方向和距离
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direction, dist = circle_dist(target_yaw, current_yaw)
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info(f"开始旋转: 当前角度={math.degrees(current_yaw):.2f}°, 目标角度={math.degrees(target_yaw):.2f}°", "旋转")
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if abs(dist) > limit:
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# 主要转向
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const_int = 2470 # 转1.57弧度约需2470的duration值
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# 精确模式下使用更小的旋转速度
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turn_speed = 0.3 if precision else 0.5
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# 如果角度很小且使用精确模式，进一步降低速度
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if precision and abs(dist) < 0.2: # 约11.5度
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turn_speed = 0.2
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# 设置转向命令
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msg.mode = 11 # Locomotion模式
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msg.gait_id = 26 # 自变频步态
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msg.vel_des = [0, 0, turn_speed if direction > 0 else -turn_speed] # 转向速度
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# 精确模式下延长转向时间以保证稳定性
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duration_factor = 1.2 if precision else 1.0
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msg.duration = int(const_int * abs(dist) * duration_factor)
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msg.step_height = [0.06, 0.06] # 抬腿高度
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msg.life_count += 1
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# 发送命令
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ctrl.Send_cmd(msg)
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debug(f"发送旋转命令：方向={'逆时针' if direction > 0 else '顺时针'}, 速度={turn_speed}, 持续时间={msg.duration}", "旋转")
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# 等待转向完成
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# 精确模式下增加等待时间
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wait_factor = 1.3 if precision else 1.0
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wait_time = 7 * abs(dist) / 1.57 * wait_factor
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debug(f"等待旋转完成: {wait_time:.2f}秒", "时间")
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# 精确模式下使用实时监控而不是固定等待时间
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if precision and abs(dist) > 0.1: # 对于较大角度
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start_time = time.time()
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last_yaw = current_yaw
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stable_count = 0
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timeout = wait_time + 3 # 增加超时保护
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# 实时监控旋转进度
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while time.time() - start_time < timeout:
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time.sleep(0.1) # 频繁检查
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current_yaw_now = ctrl.odo_msg.rpy[2]
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# 计算已旋转角度
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rotated = abs(current_yaw_now - last_yaw)
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if rotated > math.pi:
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rotated = 2 * math.pi - rotated
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# 如果旋转速度很小（几乎停止）
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if rotated < 0.01: # 约0.6度
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stable_count += 1
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else:
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stable_count = 0
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last_yaw = current_yaw_now
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# 如果机器人稳定一段时间，认为旋转完成
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if stable_count >= 3:
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debug(f"检测到旋转已稳定，提前结束等待", "旋转")
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break
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# 每0.5秒打印一次进度
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elapsed = time.time() - start_time
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if int(elapsed * 2) % 2 == 0:
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remaining_yaw = target_yaw - current_yaw_now
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# 标准化到 [-pi, pi]
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if remaining_yaw > math.pi:
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remaining_yaw -= 2 * math.pi
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if remaining_yaw < -math.pi:
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remaining_yaw += 2 * math.pi
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debug(f"旋转进度: {elapsed:.1f}s/{wait_time:.1f}s, 剩余角度: {math.degrees(remaining_yaw):.2f}°", "进度")
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else:
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turn_speed = 0.3
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info(f"开始旋转: 当前角度={math.degrees(current_yaw):.2f}°, 目标角度={math.degrees(target_yaw):.2f}°, 需旋转{math.degrees(abs(remaining_dist)):.2f}°", "旋转")
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# 发送旋转命令（持续旋转）
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msg.mode = 11 # Locomotion模式
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msg.gait_id = 26 # 自变频步态
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msg.vel_des = [0, 0, turn_speed * turn_direction] # 转向速度和方向
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msg.duration = 30000 # 设置一个大的持续时间值，后面会主动停止
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msg.step_height = [0.06, 0.06] # 抬腿高度
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msg.life_count += 1
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# 发送命令
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ctrl.Send_cmd(msg)
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debug(f"开始持续旋转：方向={'逆时针' if turn_direction > 0 else '顺时针'}, 速度={turn_speed}", "旋转")
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# 等待并监测旋转进度
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start_time = time.time()
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last_yaw = current_yaw
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stable_count = 0
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# 设置最大超时时间（秒）防止无限等待
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max_timeout = 15 if abs(remaining_dist) > 1.0 else 10
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while True:
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time.sleep(0.05) # 高频监测旋转状态
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# 非精确模式使用固定等待时间
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time.sleep(wait_time)
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# 获取当前角度
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current_yaw_now = ctrl.odo_msg.rpy[2]
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current_yaw = ctrl.odo_msg.rpy[2]
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info(f"主要转向完成: 当前角度={math.degrees(current_yaw):.2f}°, 目标角度={math.degrees(target_yaw):.2f}°", "角度")
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# 计算当前与目标的角度差
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current_error = target_yaw - current_yaw_now
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if current_error > math.pi:
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current_error -= 2 * math.pi
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elif current_error < -math.pi:
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current_error += 2 * math.pi
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# 计算已旋转角度（用于检测机器人是否在移动）
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rotated = current_yaw_now - last_yaw
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if abs(rotated) > math.pi:
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rotated = 2 * math.pi - abs(rotated)
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rotated *= -1 if current_yaw_now > last_yaw else 1
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last_yaw = current_yaw_now
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# 计算剩余误差
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remaining_dist = target_yaw - current_yaw
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if remaining_dist > math.pi:
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remaining_dist -= 2 * math.pi
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elif remaining_dist < -math.pi:
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remaining_dist += 2 * math.pi
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# 每0.5秒打印一次进度
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elapsed = time.time() - start_time
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if int(elapsed * 2) % 10 == 0: # 每5秒
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debug(f"旋转进度: {elapsed:.1f}s, 剩余角度: {math.degrees(abs(current_error)):.2f}°", "进度")
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# 精细调整（如果误差大于限制）
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if abs(remaining_dist) > limit:
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warning(f"剩余误差: {math.degrees(remaining_dist):.2f}°, 需要进行微调", "角度")
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# 判断是否已经接近目标角度
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if abs(current_error) <= limit:
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# 立即发送停止命令
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# 进行微调
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const_int_tiny = 1200 if not precision else 1000 # 精确模式下使用更小的系数
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# 精确模式下使用更小的微调速度
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fine_turn_speed = 0.3 if precision else 0.5
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# 如果剩余误差很小，进一步降低速度
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if abs(remaining_dist) < 0.1: # 约5.7度
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fine_turn_speed = 0.15
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# 设置微调命令
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msg.mode = 11
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msg.gait_id = 26
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msg.vel_des = [0, 0, 0] # 停止旋转
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msg.duration = 200 # 短暂停止命令
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msg.vel_des = [0, 0, fine_turn_speed if remaining_dist > 0 else -fine_turn_speed]
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# 精确模式下使用更长的微调时间
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duration_factor = 1.25 if precision else 1.0
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msg.duration = int(const_int_tiny * abs(remaining_dist) * duration_factor)
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msg.step_height = [0.06, 0.06]
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msg.life_count += 1
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# 发送命令
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ctrl.Send_cmd(msg)
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debug(f"发送微调命令：方向={'逆时针' if remaining_dist > 0 else '顺时针'}, 速度={fine_turn_speed}, 持续时间={msg.duration}", "旋转")
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success(f"旋转成功，误差在允许范围内: {math.degrees(abs(current_error)):.2f}°", "成功")
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return True
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# 精确模式下等待更长时间
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wait_time = 5 if not precision else 7
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time.sleep(wait_time)
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# 检测是否接近目标角度，需要减速
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if abs(current_error) < 0.3 and abs(turn_speed) > 0.15: # 约17度内减速
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turn_speed = 0.15 * (1 if turn_speed > 0 else -1)
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msg.vel_des = [0, 0, turn_speed]
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msg.life_count += 1
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ctrl.Send_cmd(msg)
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debug(f"接近目标，减速至: {turn_speed}", "减速")
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# 获取最终角度
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final_yaw = ctrl.odo_msg.rpy[2]
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info(f"微调完成: 最终角度={math.degrees(final_yaw):.2f}°, 目标角度={math.degrees(target_yaw):.2f}°", "角度")
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# 如果旋转方向不对（过头或方向错误），修正方向
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if (current_error > 0 and turn_direction < 0) or (current_error < 0 and turn_direction > 0):
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turn_direction = 1 if current_error > 0 else -1
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turn_speed = 0.15 # 方向调整时使用低速
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msg.vel_des = [0, 0, turn_speed * turn_direction]
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msg.life_count += 1
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ctrl.Send_cmd(msg)
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debug(f"调整旋转方向: {'逆时针' if turn_direction > 0 else '顺时针'}, 速度={turn_speed}", "方向")
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# 检查超时
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if elapsed > max_timeout:
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# 发送停止命令
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msg.mode = 11
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msg.gait_id = 26
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msg.vel_des = [0, 0, 0] # 停止旋转
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msg.duration = 500
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msg.life_count += 1
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ctrl.Send_cmd(msg)
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final_error = abs(target_yaw - final_yaw)
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if final_error > math.pi:
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final_error = 2 * math.pi - final_error
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error(f"旋转超时，已停止。当前误差: {math.degrees(abs(current_error)):.2f}°", "超时")
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return False
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# 检测机器人是否卡住（长时间无明显角度变化）
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if abs(rotated) < 0.005: # 角度变化很小
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stable_count += 1
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else:
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stable_count = 0
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# 如果连续多次检测到角度几乎不变，可能卡住了
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if stable_count > 30: # 连续30次检测（约1.5秒）角度几乎不变
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# 尝试增加速度或改变方向
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if abs(turn_speed) < 0.5:
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turn_speed = 0.5 * turn_direction
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msg.vel_des = [0, 0, turn_speed]
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msg.life_count += 1
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ctrl.Send_cmd(msg)
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debug(f"检测到旋转停滞，增加速度至: {turn_speed}", "调整")
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stable_count = 0
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# 判断是否成功达到目标
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if final_error <= limit:
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success(f"旋转成功，误差在允许范围内: {math.degrees(final_error):.2f}°", "成功")
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return True
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else:
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# 如果速度已经很大还是卡住，可能有障碍，停止旋转
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msg.vel_des = [0, 0, 0] # 停止旋转
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msg.life_count += 1
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ctrl.Send_cmd(msg)
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error(f"检测到旋转异常，已停止。当前误差: {math.degrees(abs(current_error)):.2f}°", "异常")
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warning(f"旋转完成，但误差超出允许范围: {math.degrees(final_error):.2f}° > {math.degrees(limit):.2f}°", "警告")
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# 在精确模式下，如果误差仍然很大，尝试第二次微调
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if precision and final_error > limit * 2:
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info("尝试第二次微调", "精确")
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# 计算第二次微调角度
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second_adj = target_yaw - final_yaw
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if second_adj > math.pi:
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second_adj -= 2 * math.pi
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elif second_adj < -math.pi:
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second_adj += 2 * math.pi
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# 降低微调速度
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very_fine_speed = 0.1
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# 设置第二次微调命令
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msg.mode = 11
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msg.gait_id = 26
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msg.vel_des = [0, 0, very_fine_speed if second_adj > 0 else -very_fine_speed]
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msg.duration = int(800 * abs(second_adj)) # 使用更小的系数
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msg.step_height = [0.06, 0.06]
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msg.life_count += 1
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# 发送命令
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ctrl.Send_cmd(msg)
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debug(f"第二次微调：旋转{math.degrees(second_adj):.2f}°", "精确")
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# 等待第二次微调完成
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time.sleep(3)
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# 获取最终结果
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final_final_yaw = ctrl.odo_msg.rpy[2]
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final_final_error = abs(target_yaw - final_final_yaw)
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if final_final_error > math.pi:
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final_final_error = 2 * math.pi - final_final_error
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if final_final_error <= limit:
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success(f"第二次微调成功，最终误差: {math.degrees(final_final_error):.2f}°", "成功")
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return True
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else:
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warning(f"两次微调后仍有误差: {math.degrees(final_final_error):.2f}°", "警告")
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# 如果误差已经比第一次小，算作改进
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return final_final_error < final_error
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return False
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success("旋转成功完成", "完成")
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return True
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