havoc420ubuntu
85defc7811
- Add support for two versions of horizontal line detection functions - Update move_base_hori_line.py to use the selected detection version - Modify example_robot_log.py and test/main.py to use the new detection version - Update image saving path in rgb-camera/img-raw-get.py - Improve logging and error handling in detect_track.py
51 lines
1.1 KiB
Python
51 lines
1.1 KiB
Python
import time
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import sys
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import os
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# 添加父目录到路径，以便能够导入utils
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sys.path.append(os.path.dirname(os.path.dirname(os.path.abspath(__file__))))
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from base_move.turn_degree import turn_degree
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from base_move.move_base_hori_line import arc_turn_around_hori_line, align_to_horizontal_line
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from utils.log_helper import LogHelper, get_logger, section, info, debug, warning, error, success, timing
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observe = True
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def run_task_2_5(Ctrl, msg):
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section('任务2.5：预备进入任务3', "启动")
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# TEST
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turn_degree(Ctrl, msg, 90, absolute=observe)
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align_to_horizontal_line(
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Ctrl,
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msg,
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detect_func_version=2,
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observe=observe,
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)
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return
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section('任务2.5-1：第一次旋转', "移动")
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arc_turn_around_hori_line(
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Ctrl,
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msg,
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angle_deg=-90,
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target_distance=0.5,
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detect_func_version=2,
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observe=observe,
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)
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section('任务2.5-2：第二次旋转', "移动")
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arc_turn_around_hori_line(
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Ctrl,
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msg,
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angle_deg=90,
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target_distance=0.5,
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detect_func_version=2,
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observe=observe,
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)
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