havoc420ubuntu
790fe1fe0f
- Add pass_align parameter to arc_turn_around_hori_line function - Implement logic to skip alignment step if pass_align is True - Update task_1.py to use the new pass_align feature
59 lines
1.6 KiB
Python
59 lines
1.6 KiB
Python
import time
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import sys
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import os
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import math
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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.move_base_hori_line import move_to_hori_line, arc_turn_around_hori_line, align_to_horizontal_line
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from utils.detect_track import detect_horizontal_track_edge
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from base_move.move_base_hori_line import calculate_distance_to_line
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observe = True
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def run_task_1(ctrl, msg):
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print('🐶 Running task 1...')
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# # v2
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# print('😺 task 1 - 1')
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# # 在 arc_turn_around_hori_line 中启用 QR 码扫描
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# turn_success, qr_result = arc_turn_around_hori_line(
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# ctrl=ctrl,
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# msg=msg,
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# angle_deg=85,
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# left=False,
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# observe=observe,
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# scan_qrcode=True, # 启用 QR 码扫描
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# qr_check_interval=0.3 # 每 0.3 秒检查一次扫描结果
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# )
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# if qr_result:
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# print(f"🎯 在任务 1-1 中成功扫描到 QR 码: {qr_result}")
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# else:
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# print("⚠️ 任务 1-1 中未能扫描到任何 QR 码")
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# print('😺 task 1 - 2')
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# # 执行常规的移动操作，不需要 QR 码扫描
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# move_to_hori_line(ctrl, msg, target_distance=1, observe=observe)
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print('😺 task 1 - 3')
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qr_result = "A-1"
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direction = True if qr_result == 'A-1' else False
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turn_success = arc_turn_around_hori_line(
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ctrl=ctrl,
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msg=msg,
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angle_deg=180,
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target_distance=0.5,
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left=direction,
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pass_align=True,
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observe=observe,
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)
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return
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print('😺 task 1 - 4')
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move_to_hori_line(ctrl, msg, observe=observe)
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