From e869b4d8910bb87f1d99fe65246b6b7fb33c3710 Mon Sep 17 00:00:00 2001
From: havoc420ubuntu <2993167370@qq.com>
Date: Sun, 25 May 2025 16:45:15 +0000
Subject: [PATCH] fix(base_move): correct side velocity direction in
 follow_left_side_track

- Reverse the sign of side_velocity to move in the correct direction
- Uncomment run_task_1 and comment out run_task_test in main.py
- Update task_left_line.py to turn 90 degrees before following the left side track
---
 base_move/move_base_hori_line.py | 2 +-
 main.py                          | 4 ++--
 task_test/task_left_line.py      | 5 +++--
 3 files changed, 6 insertions(+), 5 deletions(-)

diff --git a/base_move/move_base_hori_line.py b/base_move/move_base_hori_line.py
index c48a8b1..968ce8f 100644
--- a/base_move/move_base_hori_line.py
+++ b/base_move/move_base_hori_line.py
@@ -1373,7 +1373,7 @@ def follow_left_side_track(ctrl, msg, target_distance=150, speed=0.3, max_time=3
             # 设置速度命令 - [前进速度, 侧向速度, 角速度]
             # 侧向速度为正表示向左移动，为负表示向右移动
             # 前进速度保持为0，只进行侧向移动
-            msg.vel_des = [0, side_velocity, 0]
+            msg.vel_des = [0, -side_velocity, 0]
             
             # 使用轨迹线斜率进行小角度调整，确保机器人方向与轨迹线平行
             if not track_info["is_vertical"]:  # 对于非垂直线，进行角度校正
diff --git a/main.py b/main.py
index 190472b..2d61e01 100644
--- a/main.py
+++ b/main.py
@@ -39,13 +39,13 @@ def main():
         Ctrl.base_msg.stop()  # BUG 垃圾指令 for eat
         
         # time.sleep(100) # TEST 
-        # run_task_1(Ctrl, msg)
+        run_task_1(Ctrl, msg)
 
         # run_task_2_5(Ctrl, msg)
 
         # run_task_4(Ctrl, msg)
 
-        run_task_test(Ctrl, msg)
+        # run_task_test(Ctrl, msg)
 
         # time.sleep(100)
 
diff --git a/task_test/task_left_line.py b/task_test/task_left_line.py
index 8183850..666cad3 100644
--- a/task_test/task_left_line.py
+++ b/task_test/task_left_line.py
@@ -13,5 +13,6 @@ from utils.log_helper import LogHelper, get_logger, section, info, debug, warnin
 logger = get_logger("任务-test")
 
 def run_task_test(ctrl, msg):
-    # follow_left_side_track(ctrl, msg)
-    time.sleep(100)
\ No newline at end of file
+    turn_degree(ctrl, msg, 90, absolute=True)
+    follow_left_side_track(ctrl, msg)
+    # time.sleep(100)
\ No newline at end of file