Havoc420mac/mi-task
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Refactor movement logic in task functions by commenting out unused code and adjusting parameters for improved execution. Update main.py to streamline task calls and enhance clarity.

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This commit is contained in:
havoc420ubuntu 2025-05-31 14:57:27 +00:00
parent 37248fe570
commit e9f931e6bd
3 changed files with 17 additions and 22 deletions
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33
main.py
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@ -51,29 +51,26 @@ def main():
Ctrl.base_msg.stop() # BUG 垃圾指令 for eat
# # time.sleep(100) # TEST,
# run_task_1(Ctrl, msg, time_sleep=TIME_SLEEP)
run_task_1(Ctrl, msg, time_sleep=TIME_SLEEP)
# arrow_direction = run_task_2(Ctrl, msg, xy_flag=False)
arrow_direction = 'right' # TEST
arrow_direction = run_task_2(Ctrl, msg, xy_flag=False)
# arrow_direction = 'right' # TEST
# info(f"识别到箭头方向: {arrow_direction}", "info")
# run_task_2_5(Ctrl, msg, direction=arrow_direction)
info(f"识别到箭头方向: {arrow_direction}", "info")
run_task_2_5(Ctrl, msg, direction=arrow_direction)
# if arrow_direction == 'left':
# run_task_4(Ctrl, msg)
# else:
# run_task_3(Ctrl, msg, time_sleep=TIME_SLEEP)
if arrow_direction == 'left':
run_task_4(Ctrl, msg)
else:
run_task_3(Ctrl, msg, time_sleep=TIME_SLEEP)
# turn_degree_v2(Ctrl, msg, degree=90, absolute=True)
# run_task_5(Ctrl, msg, direction=arrow_direction, time_sleep=TIME_SLEEP)
turn_degree_v2(Ctrl, msg, degree=90, absolute=True)
run_task_5(Ctrl, msg, direction=arrow_direction, time_sleep=TIME_SLEEP)
# if arrow_direction == 'left':
# run_task_3_back(Ctrl, msg)
# else:
# run_task_4_back(Ctrl, msg)
go_to_y_v2(Ctrl, msg, target_y=5.5, speed=0.5, observe=True)
# turn_degree_v2(Ctrl, msg, degree=-90, absolute=True)
if arrow_direction == 'left':
run_task_3_back(Ctrl, msg)
else:
run_task_4_back(Ctrl, msg)
run_task_2_5_back(Ctrl, msg, direction=arrow_direction)

2
task_2/task_2.py
View File

@ -249,7 +249,7 @@ def run_task_2(ctrl, msg, xy_flag=False):
return arrow_direction
def run_task_2_back(ctrl, msg):
go_to_xy(ctrl, msg, 0.7, 5, speed=0.5, observe=True)
# go_to_xy(ctrl, msg, 0.7, 5, speed=0.5, observe=True)
turn_degree_v2(ctrl, msg, -106.5, absolute=True)
print('角度为',ctrl.odo_msg.rpy[2])

4
task_2_5/task_2_5.py
View File

@ -42,8 +42,6 @@ def run_task_2_5(Ctrl, msg, direction='left'):
def run_task_2_5_back(Ctrl, msg, direction='left'):
section('任务2.5-back：预备进入任务3', "启动")
# turn_degree_v2(Ctrl, msg, degree=-90, absolute=True)
turn_degree_v2(Ctrl, msg, degree=0, absolute=True)
go_to_x_v2(Ctrl, msg, target_x=0.7, observe=observe)
go_to_y_v2(Ctrl, msg, target_y=5, speed=0.5, observe=True)