Havoc420mac/mi-task
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16 Commits

Author SHA1 Message Date
havoc420ubuntu
214cc13c65 refactor(base_move): adjust moving strategy and update task execution 
- Set msg.duration to 0 in move_to_hori_line to wait for next command
- Update task_1 execution flow based on QR code result
- Modify BaseMsg.stop() to use gait_id 27 for stopping
- Comment out smooth stop and use normal stop in move_to_hori_line
 2025-05-15 16:41:00 +00:00
Havoc
9c251bc471 优化 move_to_hori_line 和 arc_turn_around_hori_line 函数，增强 QR 码扫描功能 
- 移除 move_to_hori_line 函数中的 QR 码扫描相关参数，简化函数接口
- 在 arc_turn_around_hori_line 函数中添加 QR 码扫描功能，支持在旋转过程中异步扫描 QR 码
- 更新 task_1.py 中的任务执行逻辑，确保在旋转和移动过程中能够实时获取 QR 码扫描结果
- 增强调试信息输出，便于跟踪任务执行状态
 2025-05-15 23:42:09 +08:00
havoc420ubuntu
a8574fc1db Merge branch 'main' of ssh://120.27.199.238:222/Havoc420mac/mi-task into main 2025-05-15 15:22:27 +00:00
havoc420ubuntu
c493db818a refactor(base_move): improve rotation accuracy and adjust task execution 
- Enhance rotation feedback by printing current angle during and after rotation
- Adjust angles and add target distance in task 1 execution
- Modify stop method in BaseMsg class to use milliseconds for duration
 2025-05-15 15:22:26 +00:00
Havoc
dc0a119774 优化 move_to_hori_line 函数，新增 QR 码扫描功能 
- 在 move_to_hori_line 函数中添加 scan_qrcode 和 qr_check_interval 参数，支持在移动过程中异步扫描 QR 码
- 实现异步 QR 码扫描机制，确保在移动时能够实时获取扫描结果
- 更新返回值，根据是否启用 QR 码扫描返回不同格式的结果
- 在 task_1.py 中调用 move_to_hori_line 函数时启用 QR 码扫描，并处理扫描结果
- 在 image_raw.py 中实现异步扫描的相关逻辑，确保图像处理器能够支持 QR 码扫描功能
 2025-05-15 23:17:29 +08:00
havoc420ubuntu
f484dab840 refactor(base_move): simplify arc turn logic and remove precise turn functions 
- Simplified arc_turn_around_hori_line function:
  - Removed smooth stop method call
  - Added print statements for debugging
- Removed unused arc_turn_precise and arc_turn_around_hori_line_precise functions
- Updated task_1.py to use simplified arc_turn_around_hori_line
-
 2025-05-15 14:37:53 +00:00
havoc420ubuntu
f84271c4d1 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
 2025-05-15 12:44:48 +00:00
havoc420ubuntu
6429e3cd5e $ 5 2025-05-15 12:08:49 +00:00
Havoc
c6f236ca92 更新 task_1.py 文件，添加移动到横线的功能并调整圆弧转向逻辑。新增参数 distance 以控制移动距离，确保机器人在执行任务时的路径更加准确。 2025-05-15 19:53:36 +08:00
havoc420ubuntu
e547885e98 feat(base_move): improve arc_turn_around_hori_line function 
- Add target_distance parameter to adjust the radius of the arc
- Modify the function to subtract target_distance from the calculated radius
- Update the velocity calculation to use the absolute value
- Increase the duration by
 2025-05-15 08:35:38 +00:00
havoc420ubuntu
c0de61e1a9 task-1 #2 2025-05-14 12:12:57 +00:00
Havoc
6be89617e7 重构主程序，移除图像处理器实例化，简化任务1函数参数，删除无用的测试文件，优化代码结构。 2025-05-14 19:35:29 +08:00
havoc420ubuntu
aa4621ed55 task-1 #1 2025-05-14 11:25:44 +00:00
havoc420ubuntu
49a6a10f63 feat(task_1): implement new robot movements and behaviors 
- Add new functions for turning, going straight, and circling
- Implement standing up and lying down movements
- Update task_1 to use new movement functions
- Decode QR code information from image processor
- Refactor main.py to run task_5 instead of task_1
 2025-05-12 08:06:08 +00:00
Havoc
4d924d889a 重构代码，删除不再使用的LCM类型定义文件，更新导入路径，添加图像处理功能到主程序和任务1中，并在适当位置调用图像处理器的销毁方法。 2025-05-12 00:05:54 +08:00
havoc420ubuntu
db35c7a282 🎉 2025-05-11 15:44:54 +00:00