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refactor(main.py, task_3.py, task_test.py): update task execution flow and enhance control logic

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- Commented out run_task_3 in main.py to prevent execution during testing.
- Modified turn_degree function to set precision to True for improved control.
- Removed the unnecessary task_3/main copy.py file.
- Updated run_task_3 in task_3.py to improve gait file handling and control logic.
- Adjusted parameters for stability detection and added checks for descending phases.
- Updated task_test.py to focus on straight movement while commenting out previous commands.
This commit is contained in:
havoc420ubuntu 2025-05-26 11:37:50 +00:00
parent 0af26d8c70
commit d89aca3b7a
6 changed files with 5090 additions and 46 deletions
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2
base_move/turn_degree.py
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@ -9,7 +9,7 @@ from utils.log_helper import LogHelper, get_logger, section, info, debug, warnin
# 创建本模块特定的日志记录器
logger = get_logger("旋转控制")
def turn_degree(ctrl, msg, degree=90, absolute=False, precision=False):
def turn_degree(ctrl, msg, degree=90, absolute=False, precision=True):
"""
结合里程计实现精确稳定的旋转指定角度

4
main.py
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@ -44,9 +44,9 @@ def main():
# run_task_2_5(Ctrl, msg)
# 执行任务3
run_task_3(Ctrl, msg)
# run_task_3(Ctrl, msg)
# run_task_test(Ctrl, msg)
run_task_test(Ctrl, msg)
# time.sleep(100)

4981
task_3/Gait_Params_up_full.toml Normal file
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File diff suppressed because it is too large Load Diff

0
task_3/main copy.py → task_3/main-ori.py
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142
task_3/task_3.py
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@ -33,15 +33,6 @@ robot_cmd = {
'value':0, 'duration':0
}
def load_gait_file(file_path):
"""加载步态文件"""
try:
with open(file_path, 'r') as f:
return f.read()
except Exception as e:
error(f"加载步态文件失败: {e}", "文件")
return None
def run_task_3(ctrl, msg):
section('任务3：步态切换', "启动")
info('开始执行任务3...', "启动")
@ -85,6 +76,18 @@ def run_task_3(ctrl, msg):
f.writelines(toml.dumps(full_steps))
f.close()
# pre
file_obj_gait_def = open("./task_3/Gait_Def_up.toml",'r')
file_obj_gait_params = open("./task_3/Gait_Params_up_full.toml",'r')
usergait_msg.data = file_obj_gait_def.read()
lcm_usergait.publish("user_gait_file",usergait_msg.encode())
time.sleep(0.5)
usergait_msg.data = file_obj_gait_params.read()
lcm_usergait.publish("user_gait_file",usergait_msg.encode())
time.sleep(0.1)
file_obj_gait_def.close()
file_obj_gait_params.close()
file_obj_gait_params = open("./task_3/Gait_Params_up_full.toml",'r')
usergait_msg.data = file_obj_gait_params.read()
lcm_usergait.publish("user_gait_file", usergait_msg.encode())
@ -100,15 +103,15 @@ def run_task_3(ctrl, msg):
# 参数设置
stable_count = 0 # 用于计数z轴稳定的次数
stable_threshold = 10 # 连续5次检测z轴不再增加则认为已经停止
stable_threshold = 10 # 连续15次检测z轴不再增加则认为已经停止
z_speed_threshold = 0.01 # z轴速度阈值，小于这个值认为已经停止爬升
climb_speed_threshold = 0.05 # 检测到开始爬坡的速度阈值
max_iterations = 600 # 最大循环次数，作为安全保障
min_iterations = 200 # 最小循环次数，作为安全保障
start_height = ctrl.odo_msg.xyz[2] # 记录起始高度
# 阶段控制
climbing_detected = False # 是否检测到正在爬坡
initial_flat_stage = True # 是否在初始平路阶段
info(f"开始监测里程计Z轴速度，初始高度: {start_height}", "监测")
@ -128,11 +131,10 @@ def run_task_3(ctrl, msg):
# 检测是否开始爬坡阶段 - 使用z轴速度判断
if not climbing_detected and vz > climb_speed_threshold:
climbing_detected = True
initial_flat_stage = False
info(f"检测到开始爬坡，Z轴速度: {vz:.3f}, 当前高度: {ctrl.odo_msg.xyz[2]:.3f}", "监测")
# 只有在检测到爬坡后，才开始监控Z轴是否停止增加
if climbing_detected:
if i > min_iterations and climbing_detected:
# 如果Z轴速度接近于0或者为负，表示已经停止爬升或开始下降
if abs(vz) < z_speed_threshold or vz < 0:
stable_count += 1
@ -145,7 +147,6 @@ def run_task_3(ctrl, msg):
stable_count = 0
time.sleep(0.2)
except KeyboardInterrupt:
msg.mode = 7 #PureDamper before KeyboardInterrupt:
msg.gait_id = 0
@ -155,10 +156,68 @@ def run_task_3(ctrl, msg):
pass
section('任务3-2：直线行走', "开始")
go_straight(ctrl, msg, distance=1)
# go_straight(ctrl, msg, distance=1)
msg.mode = 11 # Locomotion模式
msg.gait_id = 26 # 自变频步态
msg.duration = 0 # wait next cmd
msg.step_height = [0.06, 0.06] # 抬腿高度
msg.vel_des = [0, 0.2, 0] # [前进速度, 侧向速度, 角速度]
msg.life_count += 1
ctrl.Send_cmd(msg)
time.sleep(0.3)
section('任务3-3：down', "完成")
try:
steps = toml.load("./task_3/Gait_Params_up.toml")
full_steps = {'step':[robot_cmd]}
k = 0
for i in steps['step']:
cmd = copy.deepcopy(robot_cmd)
cmd['duration'] = i['duration']
if i['type'] == 'usergait':
cmd['mode'] = 11 # LOCOMOTION
cmd['gait_id'] = 110 # USERGAIT
cmd['vel_des'] = i['body_vel_des']
cmd['rpy_des'] = i['body_pos_des'][0:3]
cmd['pos_des'] = i['body_pos_des'][3:6]
cmd['foot_pose'][0:2] = i['landing_pos_des'][0:2]
cmd['foot_pose'][2:4] = i['landing_pos_des'][3:5]
cmd['foot_pose'][4:6] = i['landing_pos_des'][6:8]
cmd['ctrl_point'][0:2] = i['landing_pos_des'][9:11]
cmd['step_height'][0] = math.ceil(i['step_height'][0] * 1e3) + math.ceil(i['step_height'][1] * 1e3) * 1e3
cmd['step_height'][1] = math.ceil(i['step_height'][2] * 1e3) + math.ceil(i['step_height'][3] * 1e3) * 1e3
cmd['acc_des'] = i['weight']
cmd['value'] = i['use_mpc_traj']
cmd['contact'] = math.floor(i['landing_gain'] * 1e1)
cmd['ctrl_point'][2] = i['mu']
if k == 0:
full_steps['step'] = [cmd]
else:
full_steps['step'].append(cmd)
k=k+1
f = open("./task_3/Gait_Params_up_full.toml", 'w')
f.write("# Gait Params\n")
f.writelines(toml.dumps(full_steps))
f.close()
# pre
file_obj_gait_def = open("./task_3/Gait_Def_up.toml",'r')
file_obj_gait_params = open("./task_3/Gait_Params_up_full.toml",'r')
usergait_msg.data = file_obj_gait_def.read()
lcm_usergait.publish("user_gait_file",usergait_msg.encode())
time.sleep(0.5)
usergait_msg.data = file_obj_gait_params.read()
lcm_usergait.publish("user_gait_file",usergait_msg.encode())
time.sleep(0.1)
file_obj_gait_def.close()
file_obj_gait_params.close()
file_obj_gait_params = open("./task_3/Gait_Params_up_full.toml",'r')
usergait_msg.data = file_obj_gait_params.read()
lcm_usergait.publish("user_gait_file", usergait_msg.encode())
time.sleep(0.5)
file_obj_gait_params.close()
msg.mode = 62
msg.value = 0
msg.contact = 15
@ -168,51 +227,53 @@ def run_task_3(ctrl, msg):
# 参数设置
stable_count = 0 # 用于计数z轴稳定的次数
stable_threshold = 10 # 连续5次检测z轴不再增加则认为已经停止
z_speed_threshold = 0.01 # z轴速度阈值，小于这个值认为已经停止爬升
climb_speed_threshold = 0.05 # 检测到开始爬坡的速度阈值
stable_threshold = 8 # 连续10次检测z轴速度接近零则认为已经到达平地
z_speed_threshold = 0.01 # z轴速度阈值，小于这个值认为已经停止下降
descent_speed_threshold = -0.05 # 检测到开始下坡的速度阈值（负值表示下降）
max_iterations = 600 # 最大循环次数，作为安全保障
min_iterations = 100 # 最小循环次数，确保有足够的时间开始动作
start_height = ctrl.odo_msg.xyz[2] # 记录起始高度
# 阶段控制
climbing_detected = False # 是否检测到正在爬坡
initial_flat_stage = True # 是否在初始平路阶段
descending_detected = False # 是否检测到正在下坡
flat_ground_detected = False # 是否检测到已到达平地
info(f"开始监测里程计Z轴速度，初始高度: {start_height}", "监测")
info(f"开始监测下坡过程，初始高度: {start_height}", "监测")
for i in range(max_iterations):
# 发送控制命令维持心跳
ctrl.Send_cmd(msg)
# 每10次迭代打印一次当前信息
if i % 10 == 0:
# 获取当前Z轴位置和速度
current_vz = ctrl.odo_msg.vxyz[2] # z轴速度
info(f"当前Z轴速度={current_vz:.3f}", "监测")
# 获取z轴速度
# 获取z轴速度和当前高度
vz = ctrl.odo_msg.vxyz[2]
current_height = ctrl.odo_msg.xyz[2]
# 检测是否开始爬坡阶段 - 使用z轴速度判断
if not climbing_detected and vz < -climb_speed_threshold:
climbing_detected = True
initial_flat_stage = False
info(f"检测到开始爬坡，Z轴速度: {vz:.3f}, 当前高度: {ctrl.odo_msg.xyz[2]:.3f}", "监测")
# 每10次迭代打印一次当前信息
if observe and i % 10 == 0:
info(f"当前Z轴速度={vz:.3f}, 当前高度={current_height:.3f}", "监测")
# 只有在检测到爬坡后，才开始监控Z轴是否停止增加
if climbing_detected:
# 如果Z轴速度接近于0或者为正，表示已经停止爬升或开始下降
if abs(vz) < z_speed_threshold or vz > 0:
# 检测是否开始下坡阶段 - 使用z轴速度判断（负值表示下降）
if not descending_detected and vz < descent_speed_threshold:
descending_detected = True
info(f"检测到开始下坡，Z轴速度: {vz:.3f}, 当前高度: {current_height:.3f}", "监测")
# 只有在检测到下坡后，才开始监控是否到达平地
if i > min_iterations and descending_detected:
# 如果Z轴速度接近于0，表示已经停止下降（到达平地）
if abs(vz) < z_speed_threshold:
stable_count += 1
if stable_count >= stable_threshold:
current_height = ctrl.odo_msg.xyz[2]
info(f"Z轴速度趋近于0，停止循环。当前速度: {vz:.3f}, 当前高度: {current_height:.3f}", "监测")
info(f"检测到已到达平地，Z轴速度趋近于0，停止循环。当前速度: {vz:.3f}, 当前高度: {current_height:.3f}, 下降了: {start_height - current_height:.3f}米", "监测")
flat_ground_detected = True
break
else:
# 如果Z轴仍有明显上升速度，重置稳定计数
# 如果Z轴仍有明显下降速度，重置稳定计数
stable_count = 0
time.sleep(0.2)
if not flat_ground_detected:
info(f"达到最大循环次数，未能明确检测到到达平地。当前高度: {ctrl.odo_msg.xyz[2]:.3f}", "警告")
except KeyboardInterrupt:
msg.mode = 7 #PureDamper before KeyboardInterrupt:
msg.gait_id = 0
@ -220,4 +281,3 @@ def run_task_3(ctrl, msg):
msg.life_count += 1
ctrl.Send_cmd(msg)
pass

7
task_test/task_left_line.py
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@ -7,12 +7,15 @@ sys.path.append(os.path.dirname(os.path.dirname(os.path.abspath(__file__))))
from base_move.turn_degree import turn_degree
from base_move.move_base_hori_line import follow_left_side_track
from base_move.go_straight import go_straight
from utils.log_helper import LogHelper, get_logger, section, info, debug, warning, error, success, timing
# 创建本模块特定的日志记录器
logger = get_logger("任务-test")
def run_task_test(ctrl, msg):
turn_degree(ctrl, msg, 90, absolute=True)
follow_left_side_track(ctrl, msg)
# turn_degree(ctrl, msg, 90, absolute=True)
# turn_degree(ctrl, msg, 90, absolute=True)
go_straight(ctrl, msg, distance=0.3, speed=0.1)
# follow_left_side_track(ctrl, msg)
# time.sleep(100)