暂存版本

app.py

@@ -16,7 +16,7 @@ server_command = [
     {"path": "/home/evan/Workplace/project_capture/build/", "script": "./capture"},
     {"path": "/home/evan/Workplace/project_infer/lane_server/", "script": "lane_infer_server.py"},
     {"path": "/home/evan/Workplace/project_infer/yolo_server/", "script": "yolo_infer_server.py"},
-    {"path": "/home/evan/Workplace/project_infer/ocr_server/", "script": "ocr_infer_server.py"},
+    # {"path": "/home/evan/Workplace/project_infer/ocr_server/", "script": "ocr_infer_server.py"},
 ]
 processes = []
 
@@ -167,4 +167,7 @@ if __name__ == '__main__':
     if server_process != None:
         server_process.terminate()
     if task_process != None:
-        task_process.terminate()
+        task_process.terminate()
+    for process in processes:
+        logger.error(process.pid)
+        os.kill(process.pid, signal.SIGINT)

cfg_args.toml

@@ -1,5 +1,5 @@
 [kick_ass]
-target_person = 3
+target_person = 4
 
 [task]
 Subtask_enable = true

cfg_subtask.toml

@@ -15,7 +15,7 @@ pid_ki = 0
 pid_kd = 0
 
 [up_tower]
-pid_kp = 1.2
+pid_kp = 1.3
 pid_ki = 0
 pid_kd = 0
 
@@ -25,7 +25,7 @@ pid_ki = 0
 pid_kd = 0
 
 [put_bball]
-pid_kp = 1.2
+pid_kp = 1.3
 pid_ki = 0
 pid_kd = 0
 
@@ -35,7 +35,7 @@ pid_ki = 0
 pid_kd = 0
 
 [put_hanoi2]
-pid_kp = 1.0
+pid_kp = 1
 pid_ki = 0
 pid_kd = 0
 pos_gap = 160

cfg_subtask.toml.bak.7102

@@ -0,0 +1,61 @@
+[get_block]
+pid_kp = 2.0
+pid_ki = 0
+pid_kd = 0
+first_block = "blue"
+
+[put_block]
+pid_kp = 2.0
+pid_ki = 0
+pid_kd = 0.1
+
+[get_bball]
+pid_kp = 2.0
+pid_ki = 0
+pid_kd = 0
+
+[up_tower]
+pid_kp = 2.8
+pid_ki = 0
+pid_kd = 0
+
+[get_rball]
+pid_kp = 2.0
+pid_ki = 0
+pid_kd = 0
+
+[put_bball]
+pid_kp = 2.4
+pid_ki = 0
+pid_kd = 0
+
+[put_hanoi1]
+pid_kp = 
+pid_ki = 0
+pid_kd = 0
+
+[put_hanoi2]
+pid_kp = 1.2
+pid_ki = 0
+pid_kd = 0
+pos_gap = 160
+first_target = "mp"
+
+[put_hanoi3]
+pid_kp = 2.5
+pid_ki = 0
+pid_kd = 0
+
+[move_area]
+pid_kp = 2.0
+pid_ki = 0
+pid_kd = 0
+llm_enable = false
+
+[kick_ass]
+pid_kp = 0.8
+pid_ki = 0
+pid_kd = 0
+pos_gap1 = 150
+pos_gap2 = 80
+target_person = 1

subtask.py

@@ -203,7 +203,7 @@ def explore_calibrate_new(label, offset, run_direc ,run_speed = 3.5):
         by_cmd.send_speed_x(-run_speed)
         
     if label == tlabel.TPLATFORM:
-        stop_error = 10
+        stop_error = 8
     else:
         stop_error = 15
     while True:
@@ -371,7 +371,7 @@ class task_queuem(task):
 # 人员施救
 class get_block1():
     def init(self):
-        var.task_speed = 0
+        var.task_speed = 15
         act.cmd.camera(0)
         act.cmd.z2(20, 60, 0)
         filter.switch_camera(1)
@@ -484,6 +484,7 @@ class get_block2():
         # TODO 完成不执行任务的空动作
         pass
     def after(self):
+        var.task_speed = 0
         var.pid_turning.set(cfg["get_block"]["pid_kp"], cfg["get_block"]["pid_ki"], cfg["get_block"]["pid_kd"])
         # 任务检查间隔
         time.sleep(7)
@@ -601,7 +602,7 @@ class get_bball():
             by_cmd.send_angle_claw_arm(36)
             by_cmd.send_angle_claw(54)
             by_cmd.send_position_axis_x(1, 160)
-            time.sleep(1.5)
+            time.sleep(1.2)
             by_cmd.send_angle_claw(25)
             time.sleep(1)
             by_cmd.send_distance_axis_z(30, 20)
@@ -613,7 +614,7 @@ class get_bball():
             by_cmd.send_angle_claw_arm(80)
             time.sleep(0.5)
             by_cmd.send_angle_claw(54)
-            time.sleep(1)
+            time.sleep(0.5)
             by_cmd.send_angle_claw_arm(36)
             time.sleep(1)
             by_cmd.send_position_axis_z(30, 135)
@@ -660,8 +661,8 @@ class up_tower():
         time.sleep(3)
         by_cmd.send_angle_zhuan(10)
         time.sleep(12)
-        by_cmd.send_distance_y(10, 60)
-        time.sleep(1)
+        by_cmd.send_speed_y(10)
+        time.sleep(0.3)
         car_stop()
         by_cmd.send_angle_zhuan(0)
         # while True:
@@ -712,8 +713,8 @@ class get_rball():
         time.sleep(2.5)
         by_cmd.send_angle_scoop(7)
         time.sleep(0.5)
-        by_cmd.send_distance_y(15, 70)
-        time.sleep(1)
+        by_cmd.send_speed_y(15)
+        time.sleep(0.2)
         car_stop()
         # by_cmd.send_angle_omega(-55,30)
         # while True:
@@ -745,8 +746,8 @@ class put_bball():
     def exec(self):
         logger.info("找到篮筐")
         car_stop()
-        calibrate_new(tlabel.BASKET,offset = -21, run = True, run_speed = 6)
-        by_cmd.send_distance_x(10, 20)
+        calibrate_new(tlabel.BASKET,offset = -40, run = True, run_speed = 6)
+        # by_cmd.send_distance_x(10, 10)
         # 向左运动
         # by_cmd.send_distance_y(-10, 35)
         # by_cmd.send_angle_storage(10)
@@ -917,9 +918,7 @@ class put_hanoi2():
             by_cmd.send_position_axis_z(30, 10)
             by_cmd.send_position_axis_x(1, 130)
             by_cmd.send_angle_claw(63)
-            time.sleep(1)
-            by_cmd.send_angle_claw(78)
-            time.sleep(1)
+            time.sleep(2)
             by_cmd.send_angle_claw(40)
             time.sleep(0.5)
             by_cmd.send_distance_axis_z(30, 20)
@@ -931,9 +930,7 @@ class put_hanoi2():
             by_cmd.send_position_axis_z(30, 10)
             by_cmd.send_position_axis_x(1, 40)
             by_cmd.send_angle_claw(63)
-            time.sleep(1)
-            by_cmd.send_angle_claw(78)
-            time.sleep(1)
+            time.sleep(2)
             by_cmd.send_angle_claw(40)
             time.sleep(0.5)
             by_cmd.send_distance_axis_z(30, 20)
@@ -981,9 +978,7 @@ class put_hanoi2():
             by_cmd.send_position_axis_z(30, 10)
             by_cmd.send_position_axis_x(1, 130)
             by_cmd.send_angle_claw(63)
-            time.sleep(1)
-            by_cmd.send_angle_claw(70)
-            time.sleep(1)
+            time.sleep(2)
             by_cmd.send_angle_claw(35)
             time.sleep(0.5)
             by_cmd.send_distance_axis_z(30, 20)
@@ -995,9 +990,7 @@ class put_hanoi2():
             by_cmd.send_position_axis_z(30, 10)
             by_cmd.send_position_axis_x(1, 40)
             by_cmd.send_angle_claw(63)
-            time.sleep(1)
-            by_cmd.send_angle_claw(70)
-            time.sleep(1)
+            time.sleep(2)
             by_cmd.send_angle_claw(35)
             time.sleep(0.5)
             by_cmd.send_distance_axis_z(30, 20)
@@ -1045,9 +1038,7 @@ class put_hanoi2():
             by_cmd.send_position_axis_z(30, 10)
             by_cmd.send_position_axis_x(1, 130)
             by_cmd.send_angle_claw(50)
-            time.sleep(1)
-            by_cmd.send_angle_claw(58)
-            time.sleep(1)
+            time.sleep(2)
             by_cmd.send_angle_claw(27)
             time.sleep(1)
             by_cmd.send_distance_axis_z(30, 10)
@@ -1059,9 +1050,7 @@ class put_hanoi2():
             by_cmd.send_position_axis_z(30, 10)
             by_cmd.send_position_axis_x(1, 40)
             by_cmd.send_angle_claw(50)
-            time.sleep(1)
-            by_cmd.send_angle_claw(58)
-            time.sleep(1)
+            time.sleep(2)
             by_cmd.send_angle_claw(27)
             time.sleep(1)
             by_cmd.send_distance_axis_z(30, 10)
@@ -1085,7 +1074,10 @@ class put_hanoi2():
             by_cmd.send_angle_claw(80)
             time.sleep(0.5)
             by_cmd.send_position_axis_x(1, 10)
-            time.sleep(1.5)
+            time.sleep(1)
+            by_cmd.send_speed_y(15)
+            time.sleep(0.1)
+            car_stop()
             pass
         else:
             by_cmd.send_position_axis_z(30, 170)
@@ -1385,6 +1377,9 @@ class kick_ass():
         time.sleep(3)
         by_cmd.send_position_axis_x(1, 120)
         time.sleep(1)
+        logger.debug("結束任務，前進四")
+        by_cmd.send_speed_x(25)
+        time.sleep(4)
         pass
     def nexec(self):
         pass

variable.py

@@ -6,7 +6,7 @@ lane_error = 0
 task_speed = 0
 
 # pid 参数
-pid_argv = {"kp" : 1.2, "ki" : 0, "kd" : 0}
+pid_argv = {"kp" : 2, "ki" : 0, "kd" : 0} # 1.2
 
 # 转向 pid 对象
 pid_turning = PidWrap(pid_argv["kp"], pid_argv["ki"], pid_argv["kd"], output_limits=50)