From f61fcea650fd95d4f06ff1444c383d0a8bb56160 Mon Sep 17 00:00:00 2001 From: havoc420ubuntu <2993167370@qq.com> Date: Sun, 1 Jun 2025 00:55:54 +0000 Subject: [PATCH] Comment out unused code in main.py for clarity, adjust movement parameters in task 2 for improved accuracy, and refine execution flow in task 4 by modifying speed during sky ratio detection. Update task 5 to increase straight movement distance for better performance. --- main.py | 16 ++++++++-------- task_1/task_1.py | 1 - task_2/task_2.py | 2 +- task_3/task_3.py | 3 ++- task_4/task_4.py | 5 +++-- task_5/task_5.py | 2 +- 6 files changed, 15 insertions(+), 14 deletions(-) diff --git a/main.py b/main.py index eb1c306..eced740 100644 --- a/main.py +++ b/main.py @@ -53,16 +53,16 @@ def main(): # time.sleep(100) # TEST, # 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) diff --git a/task_1/task_1.py b/task_1/task_1.py index 4cb66b7..e5c6faf 100644 --- a/task_1/task_1.py +++ b/task_1/task_1.py @@ -136,7 +136,6 @@ def run_task_1(ctrl, msg, time_sleep=5000): def run_task_1_back(ctrl, msg, time_sleep=5000): section('任务1-11: 返回', "移动") - go_straight(ctrl, msg, distance=0.2, observe=observe) turn_degree_v2(ctrl, msg, -90, absolute=True) section('任务1-11: 直线移动', "移动") diff --git a/task_2/task_2.py b/task_2/task_2.py index 9d5429d..4d45b39 100644 --- a/task_2/task_2.py +++ b/task_2/task_2.py @@ -293,7 +293,7 @@ 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, -11, speed=0.5, observe=True) + go_to_xy(ctrl, msg, 0.72, -11.1, speed=0.5, observe=True) turn_degree_v2(ctrl, msg, -106.5, absolute=True) print('角度为',ctrl.odo_msg.rpy[2]) diff --git a/task_3/task_3.py b/task_3/task_3.py index 9bc25e9..1097fe0 100644 --- a/task_3/task_3.py +++ b/task_3/task_3.py @@ -96,7 +96,7 @@ def pass_up_down(ctrl, msg): msg.life_count += 1 climb_speed_threshold = 0.05 # 检测到开始爬坡的速度阈值 - max_iterations = 400 # 最大循环次数，作为安全保障 + max_iterations = 450 # 最大循环次数，作为安全保障 y_target = 7.8 # 目标y坐标，达到此值时停止 # 阶段控制 @@ -142,6 +142,7 @@ def pass_up_down(ctrl, msg): section('任务3-2：x = 2', "开始") turn_degree_v2(ctrl, msg, 90, absolute=True) + go_lateral(ctrl, msg, distance=0.2, speed=0.5, observe=True) center_on_dual_tracks(ctrl, msg, max_deviation=10.0, observe=False, detect_height=0.3) go_straight(ctrl, msg, distance=0.6, speed=0.5, observe=True) time.sleep(1) diff --git a/task_4/task_4.py b/task_4/task_4.py index f5c4448..9817097 100644 --- a/task_4/task_4.py +++ b/task_4/task_4.py @@ -52,6 +52,7 @@ def run_task_4_back(ctrl, msg): center_on_dual_tracks(ctrl, msg, max_deviation=10.0, observe=False) ctrl.reset_offset() + time.sleep(0.5) go_straight(ctrl, msg, distance=3, speed=1, observe=True) center_on_dual_tracks(ctrl, msg, max_deviation=10.0, observe=False) @@ -63,7 +64,7 @@ def run_task_4_back(ctrl, msg): turn_degree_v2(ctrl, msg, degree=-90, absolute=True) section('任务4-1：移动直到灰色天空比例低于阈值', "天空检测") - go_straight_until_sky_ratio_below(ctrl, msg, sky_ratio_threshold=0.35, speed=0.5) + go_straight_until_sky_ratio_below(ctrl, msg, sky_ratio_threshold=0.35, speed=0.3) section('任务4-2：通过栏杆', "移动") turn_degree_v2(ctrl, msg, degree=-90, absolute=True) @@ -76,7 +77,7 @@ def run_task_4_back(ctrl, msg): turn_degree_v2(ctrl, msg, degree=-92, absolute=True) # Use enhanced calibration for better Y-axis correction on stone path - go_straight(ctrl, msg, distance=4.5, speed=0.35, mode=11, gait_id=3, step_height=[0.21, 0.21], observe=True) + go_straight(ctrl, msg, distance=4.8, speed=0.35, mode=11, gait_id=3, step_height=[0.21, 0.21], observe=True) # go_straight_with_enhanced_calibration(ctrl, msg, distance=4.5, speed=0.35, # mode=11, gait_id=3, step_height=[0.21, 0.21], observe=True) diff --git a/task_5/task_5.py b/task_5/task_5.py index 8e7631a..94119f7 100644 --- a/task_5/task_5.py +++ b/task_5/task_5.py @@ -247,7 +247,7 @@ def run_task_5(ctrl, msg, direction='left', observe=False, time_sleep=5000): section('任务5-5：转弯', "转弯") turn_degree_v2(ctrl, msg, degree=179, absolute=True) - go_straight(ctrl, msg, distance=1.2, speed=0.6, observe=observe) + go_straight(ctrl, msg, distance=1.4, speed=0.6, observe=observe) section('任务5-6：转弯', "转弯") arc_turn_around_hori_line(ctrl, msg, angle_deg=-85, target_distance=0.3, observe=observe, no_end_reset=True)