Merge branch 'main' of ssh://120.27.199.238:222/Havoc420mac/mi-task into main
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d551343838
@ -288,9 +288,10 @@ def move_to_hori_line(ctrl, msg, target_distance=0.5, observe=False):
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# 使用里程计进行实时监控移动距离
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distance_moved = 0
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start_time = time.time()
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timeout = move_time + 1 # 超时时间设置为预计移动时间加5秒
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timeout = move_time + 1 # 超时时间设置为预计移动时间加1秒
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while distance_moved < abs(distance_to_move) and time.time() - start_time < timeout:
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# 监控移动距离，但不执行减速（改用stop_smooth）
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while distance_moved < abs(distance_to_move) * 0.95 and time.time() - start_time < timeout:
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# 计算已移动距离
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current_position = ctrl.odo_msg.xyz
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dx = current_position[0] - start_position[0]
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@ -299,18 +300,20 @@ def move_to_hori_line(ctrl, msg, target_distance=0.5, observe=False):
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if observe and time.time() % 0.5 < 0.02: # 每0.5秒左右打印一次
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print(f"已移动: {distance_moved:.3f}米, 目标: {abs(distance_to_move):.3f}米")
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# 如果已经接近目标距离，准备停止
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if distance_moved >= abs(distance_to_move) * 0.95:
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break
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time.sleep(0.05) # 小间隔检查位置
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# 发送停止命令
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ctrl.base_msg.stop_force()
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# 使用平滑停止方法
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if forward:
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current_vel = [move_speed, 0, 0]
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else:
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current_vel = [-move_speed, 0, 0]
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# 使用平滑停止
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ctrl.base_msg.stop_smooth(current_vel=current_vel)
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if observe:
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print(f"移动完成，通过里程计计算的移动距离: {distance_moved:.3f}米")
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print(f"移动完成，平稳停止，通过里程计计算的移动距离: {distance_moved:.3f}米")
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# 在终点放置红色标记
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end_position = list(ctrl.odo_msg.xyz)
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if hasattr(ctrl, 'place_marker'):
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@ -325,6 +328,7 @@ def arc_turn_around_hori_line(ctrl, msg, target_distance=0.2, angle_deg=90, left
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参数:
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ctrl: Robot_Ctrl对象
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msg: robot_control_cmd_lcmt对象
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target_distance: 横线前目标保持距离，默认0.5米
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angle_deg: 旋转角度，支持90或180度
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left: True为左转，False为右转
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observe: 是否打印调试信息
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@ -375,7 +379,7 @@ def arc_turn_around_hori_line(ctrl, msg, target_distance=0.2, angle_deg=90, left
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msg.mode = 11
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msg.gait_id = 26
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msg.vel_des = [v, 0, w] # [前进速度, 侧向速度, 角速度]
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msg.duration = int((t+1) * 1000) # 加1秒余量
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msg.duration = int((t + 2) * 1000) # 加2秒余量
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msg.step_height = [0.06, 0.06]
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msg.life_count += 1
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@ -394,12 +398,14 @@ def arc_turn_around_hori_line(ctrl, msg, target_distance=0.2, angle_deg=90, left
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start_time = time.time()
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timeout = t + 2 # 给个超时保护
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while distance_moved < arc_length * 0.98 and abs(angle_turned) < abs(angle_deg) * 0.98 and time.time() - start_time < timeout:
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# 监控旋转进度，但不执行减速（改用stop_smooth）
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while distance_moved < arc_length * 0.95 and abs(angle_turned) < abs(angle_rad) * 0.95 and time.time() - start_time < timeout:
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# 计算已移动距离
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current_position = ctrl.odo_msg.xyz
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dx = current_position[0] - start_position[0]
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dy = current_position[1] - start_position[1]
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distance_moved = math.sqrt(dx*dx + dy*dy)
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# 计算已旋转角度
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current_yaw = ctrl.odo_msg.rpy[2]
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angle_turned = current_yaw - start_yaw
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@ -408,13 +414,17 @@ def arc_turn_around_hori_line(ctrl, msg, target_distance=0.2, angle_deg=90, left
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angle_turned -= 2 * math.pi
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while angle_turned < -math.pi:
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angle_turned += 2 * math.pi
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if observe and time.time() % 0.5 < 0.02: # 每0.5秒左右打印一次
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print(f"已移动: {distance_moved:.3f}米, 已旋转: {math.degrees(angle_turned):.2f}度")
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time.sleep(0.05)
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# 5. 发送停止指令
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ctrl.base_msg.stop_force()
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# 使用平滑停止
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ctrl.base_msg.stop_smooth(current_vel=[v, 0, w])
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if observe:
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print("圆弧运动完成")
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print("圆弧运动完成，平稳停止")
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return True
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@ -1,3 +1,4 @@
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import time
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class BaseMsg:
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def __init__(self, ctrl, msg):
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@ -10,4 +11,60 @@ class BaseMsg:
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self.msg.duration = 0
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self.msg.life_count += 1
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self.ctrl.Send_cmd(self.msg)
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self.ctrl.Wait_finish(0, 0)
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self.ctrl.Wait_finish(0, 0)
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def stop_smooth(self, current_vel=None, steps=3, delay=0.2):
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"""
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平滑停止移动，通过逐步减小速度而不是强制停止
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参数:
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current_vel: 当前速度列表 [x, y, z]，如果为None则使用当前消息中的速度
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steps: 减速步骤数，默认为3步
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delay: 每步之间的延迟时间(秒)，默认为0.2秒
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"""
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# 如果没有提供当前速度，使用消息中的当前速度
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if current_vel is None:
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current_vel = self.msg.vel_des.copy() if hasattr(self.msg, 'vel_des') else [0, 0, 0]
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# 保存当前消息的一些参数
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current_mode = self.msg.mode
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current_gait_id = self.msg.gait_id
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# 检查是否有速度需要减小
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if all(abs(v) < 0.01 for v in current_vel):
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# 速度已经很小，直接停止
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self.stop_force()
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return
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# 逐步减小速度
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for i in range(1, steps + 1):
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# 计算这一步的减速比例
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ratio = (steps - i) / steps
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# 计算新的速度
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new_vel = [v * ratio for v in current_vel]
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# 更新消息
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self.msg.mode = current_mode
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self.msg.gait_id = current_gait_id
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self.msg.vel_des = new_vel
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self.msg.duration = int(delay * 1000) # 毫秒
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self.msg.life_count += 1
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# 发送命令
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self.ctrl.Send_cmd(self.msg)
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# 等待这一步完成
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time.sleep(delay)
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# 最后发送一个零速度命令，确保完全停止
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self.msg.mode = current_mode
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self.msg.gait_id = current_gait_id
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self.msg.vel_des = [0, 0, 0]
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self.msg.duration = int(delay * 1000)
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self.msg.life_count += 1
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self.ctrl.Send_cmd(self.msg)
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# 等待最后的命令完成
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time.sleep(delay)
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