From c7ab681c2a157661d10842d2de92fd5774fca0ea Mon Sep 17 00:00:00 2001
From: Havoc <2993167370@qq.com>
Date: Wed, 28 May 2025 11:13:19 +0800
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---
 base_move/go_to_xy.py | 14 ++++++++++++++
 1 file changed, 14 insertions(+)

diff --git a/base_move/go_to_xy.py b/base_move/go_to_xy.py
index 017beb5..162e197 100644
--- a/base_move/go_to_xy.py
+++ b/base_move/go_to_xy.py
@@ -541,6 +541,7 @@ def go_to_xy_v2(ctrl, msg, target_x, target_y, speed=0.5, precision=True, observ
             warning(f"未能精确到达目标点，误差: {final_distance:.3f}米", "警告")
     
     return nav_success
+
 def go_to_xy_with_correction_v2(ctrl, msg, target_x, target_y, speed=0.5, precision=True, 
                               max_attempts=2, observe=False):
     """
@@ -623,3 +624,16 @@ def go_to_xy_with_correction_v2(ctrl, msg, target_x, target_y, speed=0.5, precis
             error(f"多次尝试后仍未能达到目标点，最终误差: {final_distance:.3f}米", "失败")
     
     return False
+
+def go_to_y_v2(ctrl, msg, target_y, speed=0.5, precision=True, observe=False):
+    """
+    控制机器人移动到指定的y坐标位置，使用直接y速度控制
+    
+    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
+    target_y: 目标Y坐标(米)
+    speed: 行走速度(米/秒)，范围0.1~1.0，默认为0.5
+    """
+    target_x = ctrl.odo_msg.xyz[0]
+    return go_to_xy_v2(ctrl, msg, target_x, target_y, speed, precision, observe)