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fix: 修復hanoi2右側圖像上下翻轉時過濾條件錯誤的情況

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pref: 6_9較好參數
pref: 關閉hanoi2循跡模型切換
This commit is contained in:
bmy
2024-07-15 16:55:03 +08:00
parent 1edd292ac6
commit 527fa4b04b
8 changed files with 83 additions and 64 deletions
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20
majtask.py
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@@ -13,9 +13,9 @@ class main_task():
self.socket = self.context.socket(zmq.REQ)
self.socket.connect("tcp://localhost:6666")
# lane infer server1
self.context1 = zmq.Context()
self.socket1 = self.context.socket(zmq.REQ)
self.socket1.connect("tcp://localhost:6669")
# self.context1 = zmq.Context()
# self.socket1 = self.context.socket(zmq.REQ)
# self.socket1.connect("tcp://localhost:6669")
# 赛道回归相关
self.x = 0
@@ -101,10 +101,12 @@ class main_task():
# pid_out = -pid_out
# logger.debug(f"err={self.lane_error}, pwm out={pid_out}")
self.by_cmd.send_speed_omega(pid_out)
if var.switch_lane_model:
self.socket1.send_string("")
resp = self.socket1.recv_pyobj()
else:
self.socket.send_string("")
resp = self.socket.recv_pyobj()
# if var.switch_lane_model:
# self.socket1.send_string("")
# resp = self.socket1.recv_pyobj()
# else:
# self.socket.send_string("")
# resp = self.socket.recv_pyobj()
self.socket.send_string("")
resp = self.socket.recv_pyobj()
self.parse_data(resp)