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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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15
subtask_69.py
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@@ -415,8 +415,8 @@ class task_queuem(task):
class get_block1():
def init(self):
var.task_speed = 15
act.cmd.camera(0)
act.cmd.z2(20, 60, 0)
while (by_cmd.send_angle_camera(0) == -1):
pass
filter.switch_camera(1)
# if cfg['get_block']['first_block'] == "blue":
# self.target_label = tlabel.BBLOCK
@@ -439,8 +439,7 @@ class get_block1():
if any(ret):
return True
return False
def exec(self):
car_stop()
if self.target_counts[0] > self.target_counts[1]:
@@ -771,8 +770,8 @@ class get_rball():
logger.info("抓红球")
# by_cmd.send_angle_scoop(15)
time.sleep(0.5)
by_cmd.send_position_axis_z(30, 170)
time.sleep(2.5)
by_cmd.send_position_axis_z(30, 190) #170
time.sleep(3.5)
by_cmd.send_angle_scoop(7)
time.sleep(0.5)
by_cmd.send_speed_y(15)
@@ -944,7 +943,7 @@ 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"] - 0.4, 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
@@ -1185,6 +1184,7 @@ class put_hanoi2():
# pass
by_cmd.send_speed_x(12)
time.sleep(1.5)
var.task_speed = 10
def nexec(self):
pass
def after(self):
@@ -1222,6 +1222,7 @@ class put_hanoi3():
def nexec(self):
pass
def after(self):
var.task_speed = 0
by_cmd.send_position_axis_x(1, 150)
var.pid_turning.set(cfg["put_hanoi3"]["pid_kp"], cfg["put_hanoi3"]["pid_ki"], cfg["put_hanoi3"]["pid_kd"])