From d89aca3b7a04c39f82838f8c91d50c52d90f532e Mon Sep 17 00:00:00 2001
From: havoc420ubuntu <2993167370@qq.com>
Date: Mon, 26 May 2025 11:37:50 +0000
Subject: [PATCH] refactor(main.py, task_3.py, task_test.py): update task
 execution flow and enhance control logic

- 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.
---
 base_move/turn_degree.py             |    2 +-
 main.py                              |    4 +-
 task_3/Gait_Params_up_full.toml      | 4981 ++++++++++++++++++++++++++
 task_3/{main copy.py => main-ori.py} |    0
 task_3/task_3.py                     |  142 +-
 task_test/task_left_line.py          |    7 +-
 6 files changed, 5090 insertions(+), 46 deletions(-)
 create mode 100644 task_3/Gait_Params_up_full.toml
 rename task_3/{main copy.py => main-ori.py} (100%)

diff --git a/base_move/turn_degree.py b/base_move/turn_degree.py
index 6d14cd3..d837b8a 100644
--- a/base_move/turn_degree.py
+++ b/base_move/turn_degree.py
@@ -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
     
diff --git a/main.py b/main.py
index 06e3b66..6cae8b5 100644
--- a/main.py
+++ b/main.py
@@ -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)
 
diff --git a/task_3/Gait_Params_up_full.toml b/task_3/Gait_Params_up_full.toml
new file mode 100644
index 0000000..4f331cb
--- /dev/null
+++ b/task_3/Gait_Params_up_full.toml
@@ -0,0 +1,4981 @@
+# Gait Params
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 100000.0, 0.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 0.0, 100.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 100.0, 0.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 0.0, 100000.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 100000.0, 0.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 0.0, 100.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 100.0, 0.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 0.0, 100000.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 100000.0, 0.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 0.0, 100.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 100.0, 0.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 0.0, 100000.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 100000.0, 0.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 0.0, 100.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 100.0, 0.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 0.0, 100000.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 100000.0, 0.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 0.0, 100.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 100.0, 0.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 0.0, 100000.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 100000.0, 0.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 0.0, 100.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 100.0, 0.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 0.0, 100000.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 100000.0, 0.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 0.0, 100.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 100.0, 0.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 0.0, 100000.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 100000.0, 0.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 0.0, 100.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 100.0, 0.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 0.0, 100000.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 100000.0, 0.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
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+duration = 300
+
diff --git a/task_3/main copy.py b/task_3/main-ori.py
similarity index 100%
rename from task_3/main copy.py
rename to task_3/main-ori.py
diff --git a/task_3/task_3.py b/task_3/task_3.py
index c660799..cd50a1e 100644
--- a/task_3/task_3.py
+++ b/task_3/task_3.py
@@ -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
-                
\ No newline at end of file
diff --git a/task_test/task_left_line.py b/task_test/task_left_line.py
index 666cad3..a419da8 100644
--- a/task_test/task_left_line.py
+++ b/task_test/task_left_line.py
@@ -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)
\ No newline at end of file