824b9d7786
增强双轨迹线检测功能，新增基于中心线的检测方法，优化了参数设置和评分机制，提高了对不同路况的处理能力和检测准确性。同时，更新了日志记录以便于调试和结果追踪。
2025-05-31 10:21:55 +08:00
f9b1b74b8b
nothing
2025-05-31 10:07:37 +08:00
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
ba0994a82b
Add go_lateral function for lateral movement control and update task_4.py to utilize it for improved navigation. Cleaned up main.py by removing unnecessary lines and added comments for clarity.
2025-05-30 11:34:56 +00:00
7fe76e0548
Refactor task_4.py: Updated navigation logic to improve dual track following capabilities. Enhanced the integration of visual tracking functions for better task execution. Streamlined code for improved readability and performance.
2025-05-28 16:20:12 +00:00
d56b922f6a
Refactor main.py and task_4.py: Removed deprecated turn_degree_v2 call in main.py and updated task_4.py to utilize center_on_dual_tracks for improved navigation. Deleted test_center_on_tracks.py and test_offline_centering.py files to streamline the codebase. Enhanced dual track detection capabilities by integrating detect_furthest_horizontal_intersection in move_base_hori_line.py, allowing for more accurate alignment to horizontal lines.
2025-05-28 16:17:53 +00:00
8acf5fb31c
更新日志文件，增加离线双轨道线居中测试的详细信息和调试记录，修复了自动检测模式下的异常，提升了检测过程的稳定性和准确性。
2025-05-28 23:11:38 +08:00
cc2a6ac41e
更新日志文件，增加双轨迹线检测的详细调试信息和结果记录，同时删除过时的图像文件以优化存储。增强了对不同路况的处理能力，提升了检测准确性。
2025-05-28 23:07:58 +08:00
c46ddbf7a4
优化双轨迹线检测功能，增强对不同路况的处理能力，改进参数设置和评分机制，提升检测准确性和鲁棒性。同时，更新日志记录格式，确保信息更为清晰。
2025-05-28 22:56:17 +08:00
ca876148f6
Remove obsolete dual track images and add new PNG images for enhanced visual tracking capabilities.
2025-05-28 13:42:50 +00:00
3d73bebc74
Refactor task_4.py: Replaced follow_dual_tracks function with go_straight_with_visual_track for improved tracking capabilities during task execution. Updated run_task_4_back to utilize the new function, enhancing navigation and control.
2025-05-28 13:22:23 +00:00
91a6ef0d36
Enhance main.py and task_4: Added go_to_y_v2 function to main.py for improved navigation. Updated go_straight function in go_straight.py to accept additional parameters for mode, gait_id, and step_height, allowing for more flexible movement control. Integrated follow_dual_tracks function in task_4 to enhance task execution by enabling dual track following capabilities.
2025-05-28 13:18:27 +00:00
2bb7558fb1
Refactor main.py and task_4: Updated turning logic in main.py to use turn_degree_v2 with a fixed degree of -90. Adjusted Gait_Params_stoop_full.toml and Gait_Params_stoop.toml to reduce body velocity from 0.2 to 0.15 for smoother movement. Enhanced pass_bar.py to streamline gait file publishing and added step_num variable for better control during the pass_bar function. Updated run_task_4_back to improve task flow and added a pause for standing up after passing the bar.
2025-05-28 12:24:18 +00:00
5c3e858029
Merge branch 'main' of ssh://120.27.199.238:222/Havoc420mac/mi-task into main
2025-05-28 12:24:04 +00:00
a5d8960a85
Fix detect_track.py: Uncommented observe variable for testing purposes to ensure proper functionality during image processing.
2025-05-28 12:24:01 +00:00
045125d0d1
更新yellow_track_demo.py以使用detect_horizontal_track_edge_v3函数，修改输入路径为新的图像文件。对detect_track.py进行了小幅调整，注释掉了测试代码并优化了日志保存逻辑，提升了代码的可读性和执行效率。
2025-05-28 20:12:51 +08:00
12be1b8e67
Enhance run_task_5 in task_5.py: Added move_to_hori_line function call to improve robot navigation by ensuring it moves to a horizontal line before returning results.
2025-05-28 11:41:26 +00:00
eb34eeeb3e
Enhance main.py and task_5.py: Introduced turn_degree_v2 function for improved turning control in main.py. Updated run_task_5 to accept direction parameter, allowing for dynamic movement towards unloading points based on QR code results. Added logic for moving to horizontal line and unloading sequence, enhancing task execution and robot navigation.
2025-05-28 10:07:44 +00:00
53b04a6a74
Refactor main.py and enhance go_straight_with_qrcode function in go_straight.py. Commented out unused code in main.py for clarity and added QR code scanning functionality to go_straight_with_qrcode, improving robot navigation and task execution. Updated run_task_5 to utilize the new function for better integration of QR code scanning during movement.
2025-05-28 09:56:35 +00:00
477511f291
Merge branch 'task-3' into main
2025-05-28 07:11:49 +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
af412c707e
Update main.py: refine commented-out sleep statement for clarity in testing context
2025-05-28 05:52:08 +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
b401ebd006
Merge branch 'task-3' of ssh://120.27.199.238:222/Havoc420mac/mi-task into task-3
2025-05-28 03:36:11 +00:00
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
14517e9912
优化任务3的执行流程，更新转向函数，增强旋转控制精度，调整稳定性检测参数，清理冗余代码。
2025-05-28 11:14:39 +08:00
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
c7ab681c2a
在go_to_xy.py中添加go_to_y_v2函数，支持机器人移动到指定的y坐标位置，优化了移动控制的精确性和灵活性。
2025-05-28 11:13:19 +08:00
b4956329db
Merge branch 'main' of ssh://120.27.199.238:222/Havoc420mac/mi-task
2025-05-28 11:06:55 +08:00
f3360e9b7d
修复turn_degree_twice_2函数中的调用，统一使用turn_degree函数以提高代码一致性和可读性。
2025-05-28 11:06:51 +08:00
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
c083798042
Enhance navigation and movement functions in tasks
...
- 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.
2025-05-28 03:02:24 +00:00
ea7c1d671a
Merge branch 'main' of ssh://120.27.199.238:222/Havoc420mac/mi-task
2025-05-28 02:23:03 +08:00
3f35af954f
更新任务2和任务4，增强箭头检测功能
...
- 在task_2.py中引入异步箭头检测器，优化箭头方向检测流程，确保在关键路径点进行准确检测。
- 更新run_task_2函数以支持箭头方向的动态检测，并在任务执行中根据检测结果调整后续动作。
- 在task_4.py中添加run_task_4_back函数，确保机器人能够在不同方向的情况下顺利完成任务。
- 在main.py中整合新的任务调用，确保任务执行流程的连贯性和准确性。
2025-05-28 02:23:01 +08:00
852a948a6f
Refactor task navigation and enhance movement parameters
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- 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.
2025-05-27 18:17:59 +00:00
8e172759ac
更新任务4，添加直线前进至黄线的功能
...
- 在task_4.py中引入go_straight_until_hori_line函数，控制机器人直线前进直到检测到黄线并停在指定距离。
- 调整任务4的执行流程，确保机器人能够顺利完成新的移动任务。
- 优化了相关参数设置，以提高任务执行的准确性和稳定性。
2025-05-28 02:12:00 +08:00
6c55201f73
重构任务4，更新通过栏杆的功能
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- 将任务5中的run_task_5函数重命名为pass_bar，并调整其实现以适应新的步态参数文件路径。
- 在task_4.py中添加通过栏杆的步骤，并更新相关的步态参数文件路径。
- 优化了任务4的执行流程，确保机器人能够顺利通过栏杆并继续后续任务。
2025-05-28 02:03:41 +08:00
bffcd973e0
Refactor task 1 and task 2 to incorporate new turn_degree_v2 function
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- 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.
2025-05-27 17:53:11 +00:00
e778530503
Enhance task 2 functionality and add backtracking capability
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- 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.
2025-05-27 07:00:25 +00:00
d1356fc330
优化任务2中的移动和旋转参数
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- 调整go_to_xy函数的y坐标参数，从0.2修改为0.25，以改善路径精度。
- 更新turn_degree函数的角度参数，从0修改为0.8，以增强转向控制。
- 修改方向列表中的多个参数，以提高机器人在复杂路径中的行驶表现。
2025-05-27 10:07:29 +08:00
c2b29f18f3
重构任务4和任务5，更新任务流程和参数
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- 在main.py中注释掉run_task_2函数，确保任务执行流程的简化。
- 在task_4.py中添加go_straight_until_sky_ratio_below函数以实现基于灰色天空比例的直线移动。
- 更新README.md以反映任务4和任务5的最新描述，合并相关内容。
- 删除task_5中的多个不再使用的文件，优化代码结构。
2025-05-27 01:18:10 +08:00
7517ce61f0
Merge branch 'main' of ssh://120.27.199.238:222/Havoc420mac/mi-task
2025-05-27 01:03:11 +08:00
47cfa56ff0
新增任务1和任务2.5的返回功能，包含多个移动和旋转步骤以完成任务回程。优化了机器人在任务中的动作流程，确保更流畅的执行。
2025-05-27 01:03:08 +08:00
92c6026536
refactor(main, task_2): comment out MarkerRunner and adjust turn_degree call
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- 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.
2025-05-26 15:45:32 +00:00
a1e9121761
refactor(main, task_2, task_test): update navigation functions and parameters
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- 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.
2025-05-26 15:32:45 +00:00
55491ae859
Merge branch 'task-2' into main
2025-05-26 15:06:37 +00:00
