Havoc420mac/mi-task
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Refine movement parameters in task 1 and task 3 for improved execution. Adjust straight movement distance in task 1 and correct lateral movement distance in task 3. Enhance task 4 by increasing speed during sky ratio detection.

Browse Source
This commit is contained in:
havoc420ubuntu 2025-06-01 00:24:12 +00:00
parent 24de43692c
commit cb049d64bd
4 changed files with 6 additions and 6 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
task_1/task_1.py
View File

@ -184,7 +184,9 @@ def run_task_1_back(ctrl, msg, time_sleep=5000):
radius=res['radius'] * 2,
pass_align=True,
observe=observe,
no_end_reset=True,
)
turn_degree_v2(ctrl, msg, degree=90, absolute=True)
section('任务1-18: 直线移动', "移动")
move_to_hori_line(ctrl, msg, target_distance=0.4, observe=observe)
@ -192,6 +194,6 @@ def run_task_1_back(ctrl, msg, time_sleep=5000):
section('任务1-19: 90度旋转', "旋转")
turn_degree_v2(ctrl, msg, degree=0, absolute=True)
go_straight(ctrl, msg, distance=-1, observe=observe)
go_straight(ctrl, msg, distance=-0.8, observe=observe)
success("任务1-back完成", "完成")

2
task_3/task_3.py
View File

@ -419,7 +419,7 @@ def run_task_3(ctrl, msg, time_sleep=5000):
pass_up_down(ctrl, msg)
turn_degree_v2(ctrl, msg, 90, absolute=True)
go_lateral(ctrl, msg, distance=-0.2, speed=0.5, observe=True)
go_lateral(ctrl, msg, distance=0.2, speed=0.5, observe=True)
center_on_dual_tracks(ctrl, msg, max_deviation=10.0, observe=False)
section('任务3-2：yellow stop', "开始")

4
task_4/task_4.py
View File

@ -56,8 +56,6 @@ def run_task_4_back(ctrl, msg):
go_straight(ctrl, msg, distance=3, speed=1, observe=True)
center_on_dual_tracks(ctrl, msg, max_deviation=10.0, observe=False)
return
# 向右移动0.5秒
section('任务4-回程：向右移动', "移动")
go_lateral(ctrl, msg, distance=-0.1, speed=0.15, observe=True) # DEBUG
@ -65,7 +63,7 @@ def run_task_4_back(ctrl, msg):
turn_degree_v2(ctrl, msg, degree=-90, absolute=True)
section('任务4-1：移动直到灰色天空比例低于阈值', "天空检测")
go_straight_until_sky_ratio_below(ctrl, msg, sky_ratio_threshold=0.35, speed=0.2)
go_straight_until_sky_ratio_below(ctrl, msg, sky_ratio_threshold=0.35, speed=0.5)
section('任务4-2：通过栏杆', "移动")
turn_degree_v2(ctrl, msg, degree=-90, absolute=True)

2
task_5/task_5.py
View File

@ -258,6 +258,6 @@ def run_task_5(ctrl, msg, direction='left', observe=False, time_sleep=5000):
section('任务5-7：返回', "移动")
turn_degree_v2(ctrl, msg, degree=-90, absolute=True)
# 返回移动和扫描结果
return go_success, res['qr_result']