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
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
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
3f35af954f
更新任务2和任务4，增强箭头检测功能
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- 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
8e172759ac
更新任务4，添加直线前进至黄线的功能
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- 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
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
cb002c5b9f
test(left_line): update image saving path and remove unused tasks
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- Update image saving path in ImageSubscriber class
- Remove unused imports and code related to task_4 and arrow detection
- Add import for run_task_test
- Comment out run_task_4 and uncomment run_task_test in main function
2025-05-25 11:37:24 +00:00
30c63ce2e5
refactor(task_4): adjust movement parameters and image save path
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- Modify go_straight distance from 10 to 6 in task 4
- Update image save path in rgb-camera test
2025-05-25 08:53:13 +00:00
ea2e5d132a
refactor(main): update task execution order and remove unused imports
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- Remove imports for task_5 and task_test
- Add import for task_4
- Comment out task_2_5 execution
- Uncomment and execute task_4
2025-05-25 08:45:49 +00:00
