feat: 通信塔定点停车及其他动作优化

majtask.py

@@ -34,7 +34,7 @@ class main_task():
 
         # 转向 pid
         # self.pid1 = PidWrap(0.5, 0, 0, output_limits=55) # 1.2
-        self.pid1 = PidWrap(1.2, 0, 0, output_limits=55) # 1.2
+        self.pid1 = PidWrap(1.2, 0, 0, output_limits=50) # 1.2
         self.pid1.set_target(0)
 
     def parse_data(self,data):
@@ -71,11 +71,11 @@ class main_task():
             error_abs = abs(self.lane_error)
 
             if error_abs > 50:
-                speed = 10
+                speed = 15
             elif error_abs > 45:
-                speed = 11
+                speed = 15
             elif error_abs > 35:
-                speed = 13
+                speed = 15
             elif error_abs > 25:
                 speed = 15
             elif error_abs > 15: