Havoc420mac/mi-task
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

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.

Browse Source
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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

33
main.py
View File

@ -51,29 +51,26 @@ def main():
Ctrl.base_msg.stop() # BUG 垃圾指令 for eat Ctrl.base_msg.stop() # BUG 垃圾指令 for eat
# # time.sleep(100) # TEST, # # 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 = run_task_2(Ctrl, msg, xy_flag=False)
arrow_direction = 'right' # TEST # arrow_direction = 'right' # TEST
# info(f"识别到箭头方向: {arrow_direction}", "info") info(f"识别到箭头方向: {arrow_direction}", "info")
# run_task_2_5(Ctrl, msg, direction=arrow_direction) run_task_2_5(Ctrl, msg, direction=arrow_direction)
# if arrow_direction == 'left': if arrow_direction == 'left':
# run_task_4(Ctrl, msg) run_task_4(Ctrl, msg)
# else: else:
# run_task_3(Ctrl, msg, time_sleep=TIME_SLEEP) run_task_3(Ctrl, msg, time_sleep=TIME_SLEEP)
# turn_degree_v2(Ctrl, msg, degree=90, absolute=True) turn_degree_v2(Ctrl, msg, degree=90, absolute=True)
# run_task_5(Ctrl, msg, direction=arrow_direction, time_sleep=TIME_SLEEP) run_task_5(Ctrl, msg, direction=arrow_direction, time_sleep=TIME_SLEEP)
# if arrow_direction == 'left': if arrow_direction == 'left':
# run_task_3_back(Ctrl, msg) run_task_3_back(Ctrl, msg)
# else: else:
# run_task_4_back(Ctrl, msg) 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)
run_task_2_5_back(Ctrl, msg, direction=arrow_direction) 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 return arrow_direction
def run_task_2_back(ctrl, msg): 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) turn_degree_v2(ctrl, msg, -106.5, absolute=True)
print('角度为',ctrl.odo_msg.rpy[2]) 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'): 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") 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_x_v2(Ctrl, msg, target_x=0.7, observe=observe)
go_to_y_v2(Ctrl, msg, target_y=5, speed=0.5, observe=True) go_to_y_v2(Ctrl, msg, target_y=5, speed=0.5, observe=True)