4eb237af83
Adjust movement parameters in task 2.5 for improved execution by reducing distance, and increase maximum iterations in task 3 for enhanced stability during operations.
2025-05-31 21:28:26 +00:00
97b4aa3b3c
Refactor main.py to comment out task 1 execution, adjust movement parameters in task 2.5 for improved execution, and modify iteration thresholds in task 3 for enhanced stability during operations.
2025-05-31 21:22:39 +00:00
8bf27872b6
Adjust movement parameters in task 2.5 for improved execution and increase iteration thresholds in task 3 for enhanced stability during operations.
2025-05-31 17:52:29 +00:00
f088f626e1
Enhance arrow detection in task 2 by adding left and right direction counters, updating detection logic, and refining output messages. Adjust movement parameters in task 2.5 for improved execution. Update task 3 to increase maximum iterations for better stability during operations.
2025-05-31 17:22:06 +00:00
beb0c1b9f1
Enhance main.py and task functions by removing commented-out code and refining movement logic. Update task 2.5 to utilize a new turning function and adjust iteration parameters in task 3 for improved execution flow and clarity.
2025-05-31 15:55:00 +00:00
824e31edde
🐛 Refactor task 2.5 and task 3 movement logic by commenting out unused code and adjusting parameters for improved execution flow. Streamline task functions for better clarity and maintainability.
2025-05-31 15:03:40 +00:00
51f9f19d32
删除任务3和任务4的主程序文件，以简化项目结构并移除不必要的代码。确保代码库的整洁性和可维护性。
2025-05-31 22:50:52 +08:00
4db80baf9b
Merge branch 'task-5-2' into main
2025-05-31 14:39:54 +00:00
b392453b62
更新任务函数，统一时间参数为可配置的 time_sleep 变量，以提高代码灵活性和可维护性。调整主程序中的任务调用，确保一致性和可读性。
2025-05-31 22:22:53 +08:00
7ee061ffa9
Refactor task execution by standardizing the parameters for the center_on_dual_tracks function across multiple tasks. Enhance movement commands in task 4 for improved control and adjust speed parameters for better responsiveness in task 5. Clean up commented code for clarity.
2025-05-31 14:18:02 +00:00
74571e9c92
Refactor task 3 execution flow by enabling key movement commands and updating message parameters for improved control. Add section handling for task phases to enhance clarity and organization.
2025-05-31 14:06:12 +00:00
0979d10415
Refactor main execution flow by enabling task execution based on arrow direction detection. Adjust max_time parameter in centering function for improved responsiveness. Update task 5's movement commands and section handling for clarity and consistency.
2025-05-31 13:53:54 +00:00
3b2fc33bf7
Refactor main execution flow by enabling task 2.5 with arrow direction detection and adjusting task 3 back execution. Update task 2.5 parameters for distance and speed, and modify task 5's horizontal line movement distance. Set observe flag to False in track detection functions for consistency.
2025-05-31 12:43:11 +00:00
1ce0f9e7bf
Update centering functionality in dual track control by adding new parameters for detection height and interval. Adjust message life count handling and improve variable management in task execution. Refactor related functions for enhanced clarity and performance.
2025-05-31 09:46:46 +00:00
87be6b8328
Refactor task execution flow by removing unnecessary return statements and enhancing task 3 with additional centering functionality. Update dual track line detection to improve error handling and variable naming for clarity.
2025-05-31 07:52:19 +00:00
122aea619b
Enhance dual track centering functionality by adding a new method for centering and following dual tracks. Update parameters for improved control and response. Adjust detection region in dual track line detection for better accuracy.
2025-05-31 06:05:55 +00:00
6dfa9101cf
Refactor main.py and task_3.py: Re-enable task execution logic by restoring arrow direction handling and task function calls. Update max_iterations in pass_up_down function for improved safety. Add enhanced go_straight_with_enhanced_calibration function in task_4.py for better navigation on stone paths.
2025-05-31 01:28:03 +00:00
b65b3e5b2e
Remove Gait_Params_up_full.toml file and update task_3.py and task_4.py to enhance navigation and control. Integrate go_lateral function for lateral movement, improve task execution with center_on_dual_tracks, and streamline file publishing for gait parameters. Update detection logic for horizontal lines and adjust iteration thresholds for better performance.
2025-05-30 16:12:10 +00:00
ca876fd733
Add go_until_yellow_area function to task_3.py for yellow area detection and control. Enhanced robot movement logic to stop upon detecting specified yellow area ratio, including temporary image handling and smooth stopping mechanism.
2025-05-28 07:02:58 +00:00
39f548a79d
Refactor task_3.py: rename and restructure functions for clarity and improved execution flow. Introduced pass_up_down function and redefined run_task_3 to enhance task management.
2025-05-28 06:01:57 +00:00
aaa5ee7215
更新task_3.py，增强爬坡和下坡阶段的监测功能，添加姿态判断参数，优化稳定性检测逻辑，使用滑动窗口记录高度和俯仰角，提升代码可读性和执行效率。
2025-05-28 13:05:02 +08:00
918f5f20c5
新增go_to_x_v2函数以支持机器人移动到指定x坐标，更新task_3.py以引入新函数并调整稳定性检测参数，优化代码逻辑和文件处理。
2025-05-28 04:52:38 +00:00
92b2d40826
重构task_3的文件路径处理，移除file_dir参数，简化文件读取逻辑。更新Gait_Params_up.toml和Gait_Def_up.toml的路径为相对路径，优化代码可读性。
2025-05-28 11:45:55 +08:00
82bb1056b3
delete(task_3): remove main-ori.py and robot_control_cmd_lcmt copy.py files
...
- Deleted main-ori.py as it is no longer needed for the project.
- Removed robot_control_cmd_lcmt copy.py to clean up unused LCM type definitions and streamline the codebase.
2025-05-28 03:36:09 +00:00
2e71879c25
refactor(main.py, base_move/turn_degree.py, task_3.py): update rotation functions and task execution flow
...
- Enabled execution of run_task_3 in main.py by uncommenting the function call.
- Updated turn_degree function to include a new version (turn_degree_v2) for enhanced rotation control.
- Adjusted the stable count threshold in turn_degree for improved stability detection.
- Replaced calls to turn_degree with turn_degree_v2 in task_3.py for better precision during rotations.
- Cleaned up commented-out code in task_3.py to streamline execution flow.
2025-05-28 03:13:48 +00:00
0e08c5b572
更新任务3实现，优化步态文件处理和控制逻辑，增强稳定性检测功能，调整参数以支持下降阶段检查。
2025-05-28 11:05:29 +08:00
d89aca3b7a
refactor(main.py, task_3.py, task_test.py): update task execution flow and enhance control logic
...
- Commented out run_task_3 in main.py to prevent execution during testing.
- Modified turn_degree function to set precision to True for improved control.
- Removed the unnecessary task_3/main copy.py file.
- Updated run_task_3 in task_3.py to improve gait file handling and control logic.
- Adjusted parameters for stability detection and added checks for descending phases.
- Updated task_test.py to focus on straight movement while commenting out previous commands.
2025-05-26 11:37:50 +00:00
0af26d8c70
更新日志文件，添加横向边缘检测结果和原始图像保存信息；删除不再使用的步态参数文件 Gait_Params_up_full.toml；修正黄色赛道检测演示程序中的输入路径和函数调用。
2025-05-26 17:40:57 +08:00
7b106c03dc
refactor(task_3): update gait processing and enhance control logic
...
- Refactored gait processing in main.py to load parameters from Gait_Params_up.toml and publish user gait files.
- Improved control logic in task_3.py to monitor Z-axis speed and detect climbing phases.
- Added functionality for straight movement after task completion.
- Cleaned up commented-out code and ensured consistent message handling.
2025-05-26 06:11:09 +00:00
fbc2d5a7cd
delete(task_3): remove moonwalk gait definition and parameters files
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- Deleted Gait_Def_moonwalk.toml, Gait_Params_moonwalk.toml, Gait_Params_moonwalk_full.toml, and Usergait_List.toml as they are no longer needed for the project.
2025-05-25 20:15:12 +00:00
952524dc63
refactor(task_3): remove unnecessary code and update functionality
...
- Remove redundant LCM initialization and file writing in main.py
- Update file paths in task_3.py to use relative paths
- Replace ctrl.Send_msg() with ctrl.Send_cmd(msg) for consistency
- Add import lcm in task_3.py
- Update main.py to focus on user gait list processing
2025-05-25 18:31:29 +00:00
0558ded36d
调整文件权限，将相关文件的模式从644更改为755，以确保可执行权限。
2025-05-26 02:19:59 +08:00
2734580d10
fix file
2025-05-26 02:08:12 +08:00
938b0f8a86
更新任务3实现：引入机器人命令字典，优化步态文件加载与发送逻辑，支持用户自定义步态切换。增加异常处理以应对中断情况。
2025-05-26 02:06:04 +08:00
5ab480d507
重构(main.py): 移除任务4并引入任务3
...
- 注释掉MarkerRunner相关代码
- 替换任务4为任务3的调用
- 在place_marker函数中添加返回None以避免错误
2025-05-26 01:52:30 +08:00
