Havoc420mac/mi-task
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  • 824e31edde 🐛 Refactor task 2.5 and task 3 movement logic by commenting out unused code and adjusting parameters for improved execution flow. Streamline task functions for better clarity and maintainability. havoc420ubuntu 2025-05-31 15:03:40 +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. havoc420ubuntu 2025-05-31 14:57:27 +00:00
  • 37248fe570 Merge branch 'main' of ssh://120.27.199.238:222/Havoc420mac/mi-task into main havoc420ubuntu 2025-05-31 14:55:15 +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. havoc420ubuntu 2025-05-31 14:55:13 +00:00
  • 51f9f19d32 删除任务3和任务4的主程序文件，以简化项目结构并移除不必要的代码。确保代码库的整洁性和可维护性。 Havoc 2025-05-31 22:50:52 +08:00
  • 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. havoc420ubuntu 2025-05-31 14:43:02 +00:00
  • 4db80baf9b Merge branch 'task-5-2' into main havoc420ubuntu 2025-05-31 14:39:54 +00:00
  • a4a600118d Delete outdated robot log files from May 25, 26, 28, and 31, 2025, to streamline project structure and remove unnecessary data. Update task 4 and task 5 movement parameters for improved control and consistency in execution. task-5-2 havoc420ubuntu 2025-05-31 14:38:37 +00:00
  • a2fd2daff1 在图像处理器中引入日志记录功能，替换了多个打印语句为日志记录，增强了错误和状态信息的可追踪性。调整了异步扫描的启动和停止逻辑，确保更好的错误处理和信息反馈。 Havoc 2025-05-31 22:38:35 +08:00
  • 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. havoc420ubuntu 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。 Havoc 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. havoc420ubuntu 2025-05-31 14:18:02 +00:00
  • 74571e9c92 Refactor task 3 execution flow by enabling key movement commands and updating message parameters for improved control. Add section handling for task phases to enhance clarity and organization. havoc420ubuntu 2025-05-31 14:06:12 +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. havoc420ubuntu 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. havoc420ubuntu 2025-05-31 13:40:55 +00:00
  • 8ef996ee94 🐛 Add support for additional detection function versions in horizontal line alignment. Implement version checks for functions 3 and 4, and handle errors for unspecified detection versions. Improve code clarity and maintainability. havoc420ubuntu 2025-05-31 12:53:50 +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. havoc420ubuntu 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. havoc420ubuntu 2025-05-31 12:43:11 +00:00
  • e0961fcdd9 Merge branch 'task-3-2' of ssh://120.27.199.238:222/Havoc420mac/mi-task into task-3-2 task-3-2 Havoc 2025-05-31 20:09:29 +08:00
  • 254923a222 删除了多个示例文件和配置文件，包括机器人日志模块、运动参数和检测相关的Python脚本，清理了不再使用的代码和资源，以优化项目结构和维护性。 Havoc 2025-05-31 20:09:18 +08:00
  • 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. havoc420ubuntu 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. havoc420ubuntu 2025-05-31 07:52:19 +00:00
  • e399c8c837 Enhance dual track centering functionality by adding an estimated track distance parameter for improved deviation calculations. Update the logic for converting pixel deviation to actual distance, optimizing the centering process. Refactor detection and movement commands for better responsiveness and accuracy. havoc420ubuntu 2025-05-31 07:30:18 +00:00
  • af364ebccb 增强双轨迹线检测功能，优化了边缘检测和线条筛选逻辑，改进了评分机制以提高检测准确性。更新了调试信息和日志记录，便于可视化和结果追踪。同时，调整了图像路径以适应新的测试用例。 Havoc 2025-05-31 14:12:52 +08:00
  • 122aea619b Enhance dual track centering functionality by adding a new method for centering and following dual tracks. Update parameters for improved control and response. Adjust detection region in dual track line detection for better accuracy. havoc420ubuntu 2025-05-31 06:05:55 +00:00
  • f204d3cd50 🎏 vertical dual over - 1 Havoc 2025-05-31 13:36:16 +08:00
  • e1f32f2646 vertical: step - 3 Havoc 2025-05-31 13:03:35 +08:00
  • 3f4e26af75 增强双轨迹线检测功能，优化了线条合并逻辑，更新了调试信息以便于可视化和结果追踪。增加了合并前后线条数量的记录，提升了代码可读性和调试便利性。 Havoc 2025-05-31 13:00:39 +08:00
  • b80bd056c0 verical： step - 2 Havoc 2025-05-31 12:49:01 +08:00
  • 365d59fe75 vertical: step - 1 Havoc 2025-05-31 12:33:28 +08:00
  • 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。 Havoc 2025-05-31 10:21:55 +08:00
  • f9b1b74b8b nothing Havoc 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. havoc420ubuntu 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. havoc420ubuntu 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. havoc420ubuntu 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. havoc420ubuntu 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. havoc420ubuntu 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。 Havoc 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。 Havoc 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。 Havoc 2025-05-28 22:56:17 +08:00
  • ca876148f6 Remove obsolete dual track images and add new PNG images for enhanced visual tracking capabilities. havoc420ubuntu 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. havoc420ubuntu 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. havoc420ubuntu 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. havoc420ubuntu 2025-05-28 12:24:18 +00:00
  • 5c3e858029 Merge branch 'main' of ssh://120.27.199.238:222/Havoc420mac/mi-task into main havoc420ubuntu 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. havoc420ubuntu 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。 Havoc 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. havoc420ubuntu 2025-05-28 11:41:26 +00:00
  • 5502fa55d3 Merge branch 'task-3' of ssh://120.27.199.238:222/Havoc420mac/mi-task into task-3 task-3 Havoc 2025-05-28 18:08:34 +08:00
  • 578469ab9e 更新Gait_Params相关文件，调整步态参数以优化机器人运动表现，修改主程序以支持新步态配置，增强代码可读性和执行效率。 Havoc 2025-05-28 18:08:32 +08:00
  • 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. havoc420ubuntu 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. havoc420ubuntu 2025-05-28 09:56:35 +00:00
  • 477511f291 Merge branch 'task-3' into main havoc420ubuntu 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. havoc420ubuntu 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. havoc420ubuntu 2025-05-28 06:01:57 +00:00
  • af412c707e Update main.py: refine commented-out sleep statement for clarity in testing context havoc420ubuntu 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。 Havoc 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。 havoc420ubuntu 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。 Havoc 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 havoc420ubuntu 2025-05-28 03:36:11 +00:00
  • 82bb1056b3 delete(task_3): remove main-ori.py and robot_control_cmd_lcmt copy.py files havoc420ubuntu 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。 Havoc 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 havoc420ubuntu 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。 Havoc 2025-05-28 11:13:19 +08:00
  • b4956329db Merge branch 'main' of ssh://120.27.199.238:222/Havoc420mac/mi-task Havoc 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。 Havoc 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。 Havoc 2025-05-28 11:05:29 +08:00
  • c083798042 Enhance navigation and movement functions in tasks havoc420ubuntu 2025-05-28 03:02:24 +00:00
  • ea7c1d671a Merge branch 'main' of ssh://120.27.199.238:222/Havoc420mac/mi-task Havoc 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 Havoc 2025-05-28 02:23:01 +08:00
  • 852a948a6f Refactor task navigation and enhance movement parameters havoc420ubuntu 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 Havoc 2025-05-28 02:12:00 +08:00
  • 6c55201f73 重构任务4，更新通过栏杆的功能 Havoc 2025-05-28 02:03:41 +08:00
  • bffcd973e0 Refactor task 1 and task 2 to incorporate new turn_degree_v2 function havoc420ubuntu 2025-05-27 17:53:11 +00:00
  • e778530503 Enhance task 2 functionality and add backtracking capability havoc420ubuntu 2025-05-27 07:00:25 +00:00
  • d1356fc330 优化任务2中的移动和旋转参数 Havoc 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 Havoc 2025-05-27 01:18:10 +08:00
  • 7517ce61f0 Merge branch 'main' of ssh://120.27.199.238:222/Havoc420mac/mi-task Havoc 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。 Havoc 2025-05-27 01:03:08 +08:00
  • 92c6026536 refactor(main, task_2): comment out MarkerRunner and adjust turn_degree call havoc420ubuntu 2025-05-26 15:45:32 +00:00
  • a1e9121761 refactor(main, task_2, task_test): update navigation functions and parameters havoc420ubuntu 2025-05-26 15:32:45 +00:00
  • 55491ae859 Merge branch 'task-2' into main havoc420ubuntu 2025-05-26 15:06:37 +00:00
  • ce369bf718 refactor(main): integrate go_to_xy_example function for coordinate navigation havoc420ubuntu 2025-05-26 15:06:08 +00:00
  • c5cd4a4091 🎏 add task-5 model havoc420ubuntu 2025-05-26 13:12:28 +00:00
  • 88f72b3722 refactor(detect_track): enhance edge detection and improve track following logic havoc420ubuntu 2025-05-26 12:29:48 +00:00
  • d89aca3b7a refactor(main.py, task_3.py, task_test.py): update task execution flow and enhance control logic havoc420ubuntu 2025-05-26 11:37:50 +00:00
  • 0af26d8c70 更新日志文件，添加横向边缘检测结果和原始图像保存信息；删除不再使用的步态参数文件 Gait_Params_up_full.toml；修正黄色赛道检测演示程序中的输入路径和函数调用。 Havoc 2025-05-26 17:40:57 +08:00
  • e9ff362b01 refactor(main, base_move, task_1): update task execution and enhance track detection havoc420ubuntu 2025-05-26 09:34:32 +00:00
  • 401ab3d37f 新增对task_2的支持，调用run_task_2函数并注释掉run_task_test函数，以便于后续测试和功能扩展。 task-2 Havoc 2025-05-26 14:21:05 +08:00
  • 7b106c03dc refactor(task_3): update gait processing and enhance control logic havoc420ubuntu 2025-05-26 06:11:09 +00:00
  • fbc2d5a7cd delete(task_3): remove moonwalk gait definition and parameters files havoc420ubuntu 2025-05-25 20:15:12 +00:00
  • 952524dc63 refactor(task_3): remove unnecessary code and update functionality havoc420ubuntu 2025-05-25 18:31:29 +00:00
  • 0558ded36d 调整文件权限，将相关文件的模式从644更改为755，以确保可执行权限。 Havoc 2025-05-26 02:19:59 +08:00
  • 2734580d10 fix file Havoc 2025-05-26 02:08:12 +08:00
  • 938b0f8a86 更新任务3实现：引入机器人命令字典，优化步态文件加载与发送逻辑，支持用户自定义步态切换。增加异常处理以应对中断情况。 Havoc 2025-05-26 02:06:04 +08:00
  • 5ab480d507 重构(main.py): 移除任务4并引入任务3 Havoc 2025-05-26 01:52:30 +08:00
  • 3de4bb8485 refactor(base_move): improve left side track following algorithm havoc420ubuntu 2025-05-25 17:38:07 +00:00
  • 76c00337ed 优化follow_left_side_track函数，调整最大时间参数至30秒，增强轨迹跟随的稳定性和响应速度；改进检测逻辑，确保在未检测到轨迹线时能够继续使用上一次控制命令；更新速度计算方式，确保更平滑的调整和停止过程。 Havoc 2025-05-26 01:16:20 +08:00
  • 612256c525 refactor(base_move): adjust parameters and fix issues in left side track following havoc420ubuntu 2025-05-25 16:51:07 +00:00
  • 0a031c4142 Merge branch 'main' of ssh://120.27.199.238:222/Havoc420mac/mi-task into main havoc420ubuntu 2025-05-25 16:45:16 +00:00