From c493db818a0df92d186883adacab66aa1bd582da Mon Sep 17 00:00:00 2001
From: havoc420ubuntu <2993167370@qq.com>
Date: Thu, 15 May 2025 15:22:26 +0000
Subject: [PATCH] refactor(base_move): improve rotation accuracy and adjust
 task execution

- Enhance rotation feedback by printing current angle during and after rotation
- Adjust angles and add target distance in task 1 execution
- Modify stop method in BaseMsg class to use milliseconds for duration
---
 base_move/move_base_hori_line.py |  3 +++
 task_1/task_1.py                 | 10 +++++-----
 utils/base_msg.py                |  6 +++---
 3 files changed, 11 insertions(+), 8 deletions(-)

diff --git a/base_move/move_base_hori_line.py b/base_move/move_base_hori_line.py
index eaa8aae..8fd1ecf 100644
--- a/base_move/move_base_hori_line.py
+++ b/base_move/move_base_hori_line.py
@@ -483,7 +483,10 @@ def arc_turn_around_hori_line(ctrl, msg, angle_deg=90, left=True, target_distanc
 
     if observe:
         print(f"旋转过程结束，当前速度: [{current_v:.3f}, 0, {current_w:.3f}]")
+        print(f'{math.degrees(ctrl.odo_msg.rpy[2]):.2f}')
     ctrl.base_msg.stop()
+    if observe:
+        print(f'{math.degrees(ctrl.odo_msg.rpy[2]):.2f}')
     
     # 记录停止前的角度
     pre_stop_yaw = ctrl.odo_msg.rpy[2]
diff --git a/task_1/task_1.py b/task_1/task_1.py
index 05a2fbd..c875957 100644
--- a/task_1/task_1.py
+++ b/task_1/task_1.py
@@ -13,15 +13,15 @@ def run_task_1(ctrl, msg):
 
     # v2
     print('😺 task 1 - 1')
-    arc_turn_around_hori_line(ctrl, msg, angle_deg=70, left=False, observe=observe)
-
+    arc_turn_around_hori_line(ctrl, msg, angle_deg=85, left=False, observe=observe)
+    
     print('😺 task 1 - 2')
     move_to_hori_line(ctrl, msg, target_distance=1, observe=observe)
 
-    return 
-
     print('😺 task 1 - 3')
-    arc_turn_around_hori_line(ctrl, msg, angle_deg=160, left=True, observe=observe)
+    arc_turn_around_hori_line(ctrl, msg, angle_deg=180, target_distance=0.4, left=True, observe=observe)
+
+    return
 
     print('😺 task 1 - 4')
     move_to_hori_line(ctrl, msg, observe=observe)
diff --git a/utils/base_msg.py b/utils/base_msg.py
index 3e93298..6f27025 100644
--- a/utils/base_msg.py
+++ b/utils/base_msg.py
@@ -13,13 +13,13 @@ class BaseMsg:
         self.ctrl.Send_cmd(self.msg)
         self.ctrl.Wait_finish(0, 0)
 
-    def stop(self, wait_time=1):
+    def stop(self, wait_time=200):
         self.msg.mode = 11
         self.msg.gait_id = 26
         self.msg.vel_des = [0, 0, 0]
-        self.msg.duration = wait_time * 1000
+        self.msg.duration = wait_time
         self.msg.life_count += 1
         self.ctrl.Send_cmd(self.msg)
         if wait_time:
-            time.sleep(wait_time)
+            time.sleep(wait_time / 1000)
     
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