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bmy
2024-07-25 23:17:27 +08:00
parent 211b4767c1
commit 34504d9ff9
11 changed files with 210 additions and 70 deletions
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33
subtask.py
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@@ -546,7 +546,7 @@ class put_block():
ret, box = filter.get(tlabel.HOSPITAL)
if ret > 0:
width = box[0][2] - box[0][0]
if width > 130:
if width > 135:
return True
return False
def exec(self):
@@ -557,7 +557,7 @@ class put_block():
by_cmd.send_distance_x(10, 100)
by_cmd.send_position_axis_z(30, 0)
time.sleep(0.5)
by_cmd.send_position_axis_x(1, 20)
by_cmd.send_position_axis_x(1, 50) # 20
time.sleep(1)
by_cmd.send_angle_claw(63)
time.sleep(1)
@@ -582,7 +582,7 @@ class put_block():
time.sleep(1)
by_cmd.send_position_axis_z(30, 0)
time.sleep(0.5)
by_cmd.send_position_axis_x(1, 20)
by_cmd.send_position_axis_x(1, 50)
time.sleep(1.5)
by_cmd.send_angle_claw(45)
time.sleep(1)
@@ -702,12 +702,12 @@ class up_tower():
by_cmd.send_distance_x(-10, 120)
time.sleep(1)
# 上古參數
# by_cmd.send_distance_y(-10, 50)
by_cmd.send_distance_y(-10, 80)
# 6_9 模型參數
by_cmd.send_distance_y(-10, 40)
# by_cmd.send_distance_y(-10, 40)
# 7_12_3 模型參數
# by_cmd.send_distance_y(-10, 50)
# time.sleep(1)
time.sleep(2)
car_stop()
# FIXME 如果下發 distance 後直接 car_stop，則 distance 執行時間僅由指令間處理延時決定
# time.sleep(3)
@@ -758,21 +758,23 @@ class get_rball():
# 靠近塔
by_cmd.send_angle_scoop(20)
# 上古參數
# by_cmd.send_distance_y(-15, 45) # 50
by_cmd.send_distance_y(-15, 70) # 50
# 6_9 參數
by_cmd.send_distance_y(-15, 35)
time.sleep(2)
# by_cmd.send_distance_y(-15, 35)
# time.sleep(2)
# 7_12_3 參數
# by_cmd.send_distance_y(-15, 45)
# time.sleep(2)
time.sleep(2)
car_stop()
calibrate_new(tlabel.RBALL,offset = 44, run = True)
time.sleep(1)
logger.info("抓红球")
# by_cmd.send_angle_scoop(15)
# by_cmd.send_angle_scoop(12)
time.sleep(0.5)
by_cmd.send_position_axis_z(30, 170)
time.sleep(2.5)
by_cmd.send_angle_scoop(12)
time.sleep(0.5)
by_cmd.send_angle_scoop(7)
time.sleep(0.5)
by_cmd.send_speed_y(15)
@@ -811,7 +813,7 @@ class put_bball():
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_distance_y(-10, 35)
# by_cmd.send_angle_storage(10)
# time.sleep(1)
@@ -944,7 +946,7 @@ class put_hanoi1():
def after(self):
# var.switch_lane_model = True
if utils.direction == tlabel.RMARK:
var.pid_turning.set(cfg["put_hanoi1"]["pid_kp"] - 0.3, cfg["put_hanoi1"]["pid_ki"], cfg["put_hanoi1"]["pid_kd"])
var.pid_turning.set(cfg["put_hanoi1"]["pid_kp"] - 0.2, cfg["put_hanoi1"]["pid_ki"], cfg["put_hanoi1"]["pid_kd"])
else:
var.pid_turning.set(cfg["put_hanoi1"]["pid_kp"], cfg["put_hanoi1"]["pid_ki"], cfg["put_hanoi1"]["pid_kd"])
pass
@@ -1184,7 +1186,7 @@ class put_hanoi2():
# while True:
# pass
by_cmd.send_speed_x(12)
time.sleep(1.5)
time.sleep(1.2)
def nexec(self):
pass
def after(self):
@@ -1194,6 +1196,7 @@ class put_hanoi2():
else:
var.pid_turning.set(cfg["put_hanoi2"]["pid_kp"], cfg["put_hanoi2"]["pid_ki"], cfg["put_hanoi2"]["pid_kd"])
# time.sleep(2)
var.task_speed = 13
pass
class put_hanoi3():
@@ -1485,7 +1488,7 @@ class kick_ass():
ret, box = filter.get(tlabel.BASE)
if ret:
error = (box[0][2] + box[0][0] - 320) / 2
by_cmd.send_speed_omega(-error * 0.8)
by_cmd.send_speed_omega(-error * 0.8)
time.sleep(0.02)
# by_cmd.send_speed_x(25)
# time.sleep(4)