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在go_to_xy.py中添加go_to_y_v2函数，支持机器人移动到指定的y坐标位置，优化了移动控制的精确性和灵活性。

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Havoc 2025-05-28 11:13:19 +08:00
parent b4956329db
commit c7ab681c2a
1 changed files with 14 additions and 0 deletions
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14
base_move/go_to_xy.py
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@ -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") warning(f"未能精确到达目标点，误差: {final_distance:.3f}米", "警告")
return nav_success return nav_success
def go_to_xy_with_correction_v2(ctrl, msg, target_x, target_y, speed=0.5, precision=True, def go_to_xy_with_correction_v2(ctrl, msg, target_x, target_y, speed=0.5, precision=True,
max_attempts=2, observe=False): 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") 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 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)