From 124c2d02ee534bce2b2dffdfe0e5d8e79f27d1fb Mon Sep 17 00:00:00 2001
From: bmy <2583236812@qq.com>
Date: Fri, 14 Jun 2024 15:40:00 +0800
Subject: [PATCH] =?UTF-8?q?fix:=20=E4=BF=AE=E6=AD=A3=E4=B8=8A=E6=AC=A1?=
 =?UTF-8?q?=E6=8F=90=E4=BA=A4=E4=B8=AD=E7=9A=84=E9=94=99=E8=AF=AF?=
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---
 majtask.py | 8 +++++---
 1 file changed, 5 insertions(+), 3 deletions(-)

diff --git a/majtask.py b/majtask.py
index 1385eec..5337cd8 100644
--- a/majtask.py
+++ b/majtask.py
@@ -1,6 +1,7 @@
 
 import zmq
 import time
+import numpy as np
 from loguru import logger
 import utils
 from utils import PidWrap
@@ -28,9 +29,10 @@ class main_task():
     def parse_data(self,data):
         if data.get('code') == 0:
             ck_val = data.get('data')
+            # logger.debug(ck_val)
             if isinstance(ck_val, np.ndarray):  
-                self.x = ck_val[0]
-                self.y = ck_val[1]
+                self.x += ck_val[0]
+                self.y += ck_val[1]
                 self.error_counts += 1
         else:
             pass
@@ -92,7 +94,7 @@ class main_task():
             # pid_out = self.pid1.get(self.lane_error*0.65)
             pid_out = self.pid1.get(self.lane_error)
             # pid_out = -pid_out
-            # logger.debug(f"err={self.lane_error}, pwm out={pid_out}")
+            logger.debug(f"err={self.lane_error}, pwm out={pid_out}")
             self.by_cmd.send_speed_omega(pid_out)
             
         self.socket.send_string("")