havoc ubuntu
c7a712e241
fix: up
2025-08-19 19:08:39 +00:00
havocrao
64b1852d2e
feat: 更新主程序，整合任务流程，添加任务2和任务1的回退逻辑，优化箭头方向处理
2025-08-20 01:34:19 +08:00
havocrao
1ce8266c62
feat: task-2 中 arrow 也默认采用 ai，同时 img-raw 默认返回 rgb，适配 line 相关需求。
2025-08-20 00:48:33 +08:00
hav
9d041d1882
Update test
2025-08-19 22:11:14 +08:00
havocrao
7499bf26a3
fix: up
2025-08-18 22:48:03 +08:00
havocrao
d26f233cea
feat: task-1
2025-08-18 22:38:52 +08:00
havocrao
cf6272b0e1
fix: up
2025-08-18 22:05:41 +08:00
havocrao
e12a5466f3
feat: test gaid
2025-08-18 22:03:49 +08:00
hav
17afe31406
feat: demo
2025-08-18 21:57:48 +08:00
hav
d2eb82056f
Add qrcode and ai camera demo
2025-08-18 20:34:03 +08:00
cd0ac2c447
test: #2
2025-08-18 05:01:18 +00:00
havocrao
8db26c1587
test: 附身直走步态
2025-08-18 12:55:14 +08:00
hav
0aa9da9327
:tad:
2025-08-18 11:06:42 +08:00
havocrao
b4031ca4c3
tmp: 启用 main.py 中的任务1执行，移除对 QReader 的引用并调整图像处理逻辑，以提升整体功能和代码清晰度。
2025-08-17 10:30:20 +08:00
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
45e42773e7
Enable task 1 execution in main.py by uncommenting the corresponding function call, enhancing the overall task flow and functionality.
2025-05-31 17:56:26 +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
580ebb39e3
Refactor main.py and task functions by commenting out unused code and adjusting movement parameters for improved execution flow. Update task 2 to enhance clarity and maintainability.
2025-05-31 15:17:03 +00:00
e9f931e6bd
Refactor movement logic in task functions by commenting out unused code and adjusting parameters for improved execution. Update main.py to streamline task calls and enhance clarity.
2025-05-31 14:57:27 +00:00
88717f2a32
Refactor main.py and task functions to improve clarity and control. Comment out unused code and adjust movement parameters in task 5 for better execution. Update task 2.5 to streamline movement logic and enhance readability.
2025-05-31 14:55:13 +00:00
37cf8f3106
Refactor main execution flow to enable task execution based on arrow direction detection. Integrate new movement functions for improved control and clarity, while removing commented-out code for better readability.
2025-05-31 14:43:02 +00:00
4db80baf9b
Merge branch 'task-5-2' into main
2025-05-31 14:39:54 +00:00
77bee57da9
Update .gitignore to include 'example/' directory and adjust movement parameters in task 4 and task 5 for improved control. Comment out a function call in main.py for clarity.
2025-05-31 14:26:58 +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
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
4200fb8aeb
Refactor main execution flow by adding support for task 3 back functionality and adjusting task 1 and task 2 parameters. Update task 2.5 back execution logic and improve movement commands for better control. Set observe flag in track detection functions for consistency.
2025-05-31 13:40:55 +00:00
e427be6cb9
Refactor calibration logic in Robot_Ctrl class by uncommenting and optimizing the calibration process for odometry data. Ensure proper handling of calibration offset and improve clarity in the msg_handler_o method.
2025-05-31 12:47:36 +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
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
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
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
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
af412c707e
Update main.py: refine commented-out sleep statement for clarity in testing context
2025-05-28 05:52:08 +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
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
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
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
bffcd973e0
Refactor task 1 and task 2 to incorporate new turn_degree_v2 function
...
- 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
...
- 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
c2b29f18f3
重构任务4和任务5，更新任务流程和参数
...
- 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
92c6026536
refactor(main, task_2): comment out MarkerRunner and adjust turn_degree call
...
- 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
...
- 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
