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pref: subtask_raw 击打动作优化

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bmy
2024-08-08 22:18:06 +08:00
parent 25e3b60cd8
commit 4f2103d984
3 changed files with 377 additions and 191 deletions
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22
subtask.py
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@@ -771,6 +771,7 @@ class get_rball():
# 上古參數
# by_cmd.send_distance_y(-15, 50) # 50 # 70
by_cmd.send_distance_y(-15, 40) # 50 # 70
time.sleep(1.5)
# 6_9 參數
# by_cmd.send_distance_y(-15, 35)
# time.sleep(2)
@@ -1314,7 +1315,7 @@ class move_area1():
# 任务检查间隔
by_cmd.send_position_axis_x(1, 150)
# time.sleep(1)
by_cmd.send_angle_claw_arm(225)
# by_cmd.send_angle_claw_arm(225)
pass
@@ -1567,7 +1568,8 @@ class move_area2():
pass
def after(self):
var.pid_turning.set(cfg["move_area"]["pid_kp"], cfg["move_area"]["pid_ki"], cfg["move_area"]["pid_kd"])
by_cmd.send_position_axis_z(30, 0)
# by_cmd.send_position_axis_z(30, 0)
by_cmd.send_position_axis_z(30, 120)
while by_cmd.send_angle_claw(90) == -1:
pass
time.sleep(2)
@@ -1583,7 +1585,7 @@ class kick_ass():
self.target_person = cfg_args['lane_mode']['mode_index']
# by_cmd.send_angle_claw(15)
by_cmd.send_position_axis_x(1, 160)
# by_cmd.send_position_axis_x(1, 160)
def find(self):
ret = filter.find(tlabel.SIGN)
@@ -1598,12 +1600,20 @@ class kick_ass():
calibrate_new(tlabel.SIGN, offset = 8, run = True)
by_cmd.send_angle_claw(15)
time.sleep(0.5)
by_cmd.send_position_axis_z(30, 80)
by_cmd.send_position_axis_x(1, 130)
# by_cmd.send_position_axis_z(30, 80)
# OCR 摄像头向前移动
by_cmd.send_position_axis_x(1, 50)
time.sleep(1)
by_cmd.send_position_axis_x(1, 150)
# 移动到中间
by_cmd.send_distance_x(10, 295)
time.sleep(4)
time.sleep(1)
by_cmd.send_angle_claw(15)
by_cmd.send_angle_claw_arm(225)
time.sleep(1)
by_cmd.send_position_axis_z(30, 80)
time.sleep(1)
if self.target_person == 1:
by_cmd.send_distance_x(-10, 150)
time.sleep(1.5)