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

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

Browse Source 
- 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
This commit is contained in:
havoc420ubuntu 2025-05-15 12:44:48 +00:00
parent 24f98da1a3
commit f84271c4d1
2 changed files with 4 additions and 12 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

12
base_move/move_base_hori_line.py
View File

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

4
task_1/task_1.py
View File

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