- 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.
- 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.
- Updated main.py to adjust task execution flow and added print statements for debugging.
- Refactored task_2.py to utilize go_to_xy_v2 for improved navigation accuracy and added an xy_flag parameter to run_task_2.
- Introduced go_to_xy_with_correction_v2 and go_to_xy_v2 in go_to_xy.py for enhanced movement control and precision.
- Modified task_2_5.py to incorporate turn_degree_v2 and added go_straight function for better maneuverability.
- Updated task_1.py to improve navigation logic and streamline movement functions.
- Enhanced task_2.py with refined movement parameters for better execution and added logging for debugging.
- Adjusted function calls in main.py to reflect changes in task execution flow.
- Updated task_1.py to replace turn_degree_twice calls with turn_degree_v2 for improved rotation accuracy.
- Modified task_2.py to utilize turn_degree_v2 for enhanced turning capabilities and adjusted movement parameters for better path execution.
- Refined go_to_xy parameters in task_2 to optimize navigation and added additional logging for debugging purposes.
- Introduced run_task_2_back function to facilitate reverse navigation.
- Updated main.py to include calls to run_task_2_back alongside run_task_2 for improved task execution.
- Adjusted movement parameters in run_task_2 for better path accuracy and control.
- Added new movement functions for enhanced maneuverability in task 2.
- Comment out MarkerRunner initialization and execution in main.py to simplify control flow.
- Modify turn_degree call in task_2.py to remove unnecessary observe parameter for cleaner function usage.
- Add a placeholder return statement in place_marker method for future implementation.
- Comment out run_go_to_xy_example in main.py to streamline execution flow.
- Adjust target coordinates in run_go_to_xy_example for improved navigation accuracy.
- Refactor run_task_2 to include calls to go_to_xy and turn_degree for enhanced movement control.
- Update detect_horizontal_track_edge_v3 function for better edge detection accuracy.
- Refine parameters in follow_left_side_track function to improve stability and responsiveness.
- Adjust logging for clarity and maintainability.
- 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.
- Uncomment run_task_1 in main.py to enable task execution.
- Comment out run_task_test in main.py to prevent test execution.
- Introduce turn_degree_twice function in turn_degree.py for improved rotation control.
- Update task_1.py to utilize turn_degree_twice and adjust movement parameters for better task execution.
- Modify detect_func_version in task_2_5.py to use the latest detection algorithm.
- Add detect_horizontal_track_edge_v3 function in detect_track.py for enhanced edge detection capabilities.
- 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.
- 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.
- 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
- Update function signature: replace target_distance with min_distance and max_distance
- Remove unused error_threshold variable
- Adjust logging messages for better readability
- Modify success condition to check within range of min_distance and max_distance
- Update task_left_line.py to turn 90 degrees before following left side track
- Reduce max_time parameter from 30 to 3 in follow_left_side_track function
- Fix side velocity sign in follow_left_side_track function
- Uncomment and update run_task_test in main.py
- Update initial heading in task_left_line.py
- Reverse the sign of side_velocity to move in the correct direction
- Uncomment run_task_1 and comment out run_task_test in main.py
- Update task_left_line.py to turn 90 degrees before following the left side track
