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pref: 优化动作后处理

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bmy
2024-06-09 16:48:31 +08:00
parent eb0b01c8af
commit 188127b419
2 changed files with 98 additions and 51 deletions
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19
main.py
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@@ -18,18 +18,19 @@ logger.add(cfg_main['debug']['logger_filename'], format=cfg_main['debug']['logge
# 向任务队列添加任务
task_queue = queue.Queue()
task_queue.put(sb.task(sb.get_block, cfg_main['find_counts']['GetBlock_counts'], cfg_main['task']['GetBlock_enable']))
# task_queue.put(sb.task(sb.get_block, cfg_main['find_counts']['GetBlock_counts'], cfg_main['task']['GetBlock_enable']))
# task_queue.put(sb.task(sb.get_block, cfg_main['find_counts']['GetBlock_counts'], cfg_main['task']['GetBlock_enable']))
# task_queue.put(sb.task(sb.put_block, cfg_main['find_counts']['PutBlock_counts'], cfg_main['task']['GetBlock_enable'] and cfg_main['task']['PutBlock_enable']))
task_queue.put(sb.task(sb.put_block, cfg_main['find_counts']['PutBlock_counts'], cfg_main['task']['GetBlock_enable'] and cfg_main['task']['PutBlock_enable']))
task_queue.put(sb.task(sb.get_bball, cfg_main['find_counts']['GetBBall_counts'], cfg_main['task']['GetBBall_enable']))
# task_queue.put(sb.task(sb.up_tower, cfg_main['find_counts']['UpTower_counts'], cfg_main['task']['UpTower_enable']))
# task_queue.put(sb.task(sb.get_rball, cfg_main['find_counts']['GetRBall_counts'], cfg_main['task']['GetRBall_enable']))
# TODO 添加一个空任务用于提前降 z 轴
task_queue.put(sb.task(sb.up_tower, cfg_main['find_counts']['UpTower_counts'], cfg_main['task']['UpTower_enable']))
task_queue.put(sb.task(sb.get_rball, cfg_main['find_counts']['GetRBall_counts'], cfg_main['task']['GetRBall_enable']))
task_queue.put(sb.task(sb.put_bball, cfg_main['find_counts']['PutBBall_counts'], cfg_main['task']['GetBBall_enable'] and cfg_main['task']['PutBBall_enable']))
task_queue.put(sb.task(sb.put_hanoi1, cfg_main['find_counts']['PutHanoi1_counts'], True)) # 无论是否进行任务，检测标识并转向都是必须进行的
task_queue.put(sb.task(sb.put_hanoi2, cfg_main['find_counts']['PutHanoi2_counts'], cfg_main['task']['PutHanoi_enable']))
# task_queue.put(sb.task(sb.move_area1, cfg_main['find_counts']['MoveArea1_counts'], cfg_main['task']['MoveArea_enable']))
# task_queue.put(sb.task(sb.move_area2, cfg_main['find_counts']['MoveArea2_counts'], cfg_main['task']['MoveArea_enable']))
# task_queue.put(sb.task(sb.kick_ass, cfg_main['find_counts']['KickAss_counts'], cfg_main['task']['KickAss_enable']))
task_queue.put(sb.task(sb.move_area1, cfg_main['find_counts']['MoveArea1_counts'], cfg_main['task']['MoveArea_enable']))
task_queue.put(sb.task(sb.move_area2, cfg_main['find_counts']['MoveArea2_counts'], cfg_main['task']['MoveArea_enable']))
task_queue.put(sb.task(sb.kick_ass, cfg_main['find_counts']['KickAss_counts'], cfg_main['task']['KickAss_enable']))
# 将任务队列传入调度模块中
task_queuem_t = sb.task_queuem(task_queue)
@@ -44,7 +45,11 @@ worker = threading.Thread(target=worker_thread, daemon=True)
worker.start()
# if (cmd_py_obj.send_angle_camera(180) == -1):
# cmd_py_obj.send_angle_camera(180)
cmd_py_obj.send_distance_axis_x(1, 140)
time.sleep(0.5)
cmd_py_obj.send_angle_storage(20)
time.sleep(0.5)
cmd_py_obj.send_angle_scoop(25)
time.sleep(2)
# 创建主任务