refactor(base_move): improve stop mechanism and adjust task_1 behavior

- Replace direct stop command with ctrl.base_msg.stop_force() in move_base_hori_line
- Enable observation mode in task_1 by setting observe to True
- Remove unnecessary return statement in task_1

base_move/move_base_hori_line.py

@@ -454,15 +454,9 @@ def arc_turn_around_hori_line(ctrl, msg, target_distance=0.2, angle_deg=90, left
         
         time.sleep(0.05)
 
-    # 直接发送停止命令，不使用平滑停止
-    msg.mode = 11
-    msg.gait_id = 26
-    msg.vel_des = [0, 0, 0]  # 零速度
-    msg.duration = 200
-    msg.step_height = [0.06, 0.06]
-    msg.life_count += 1
-    ctrl.Send_cmd(msg)
-    
+    # Stop
+    ctrl.base_msg.stop_force()
+
     # 停下来后的最终角度
     final_yaw = ctrl.odo_msg.rpy[2]
     final_angle_turned = final_yaw - start_yaw

task_1/task_1.py

@@ -7,7 +7,7 @@ import os
 sys.path.append(os.path.dirname(os.path.dirname(os.path.abspath(__file__))))
 from base_move.move_base_hori_line import move_to_hori_line, arc_turn_around_hori_line
 
-observe = False
+observe = True
 
 def run_task_1(ctrl, msg):
     print('Running task 1...')
@@ -15,8 +15,6 @@ def run_task_1(ctrl, msg):
     # v2
     arc_turn_around_hori_line(ctrl, msg, angle_deg=90, left=False, observe=observe)
 
-    return True
-    
     move_to_hori_line(ctrl, msg, target_distance=1, observe=observe)
 
     arc_turn_around_hori_line(ctrl, msg, angle_deg=180, left=True, observe=observe)