国赛出发前版本

fix: 补充 action 列表检查
pref: 修改 BBALL offset 值 (未同步到其他备份 subtask.py 中)
套用8822参数

cfg_subtask.toml

@@ -15,7 +15,7 @@ pid_ki = 0
 pid_kd = 0
 
 [up_tower]
-pid_kp = 1.8
+pid_kp = 1.3
 pid_ki = 0
 pid_kd = 0
 

subtask.py

@@ -555,7 +555,7 @@ class put_block():
         ret, box = filter.get(tlabel.HOSPITAL)
         if ret > 0:
             width = box[0][2] - box[0][0]
-            if width > 125: #135 130 128
+            if width > 125: #FIXME maybe 125 batter
                 return True
         return False
     def exec(self):
@@ -650,7 +650,7 @@ class get_bball():
         time.sleep(0.5)
         for _ in range(3):
             by_cmd.send_position_axis_z(30, 155)
-            calibrate_right_new(tlabel.BBALL, offset = 18, run = True, run_speed = 5)
+            calibrate_right_new(tlabel.BBALL, offset = 10, run = True, run_speed = 5)
             logger.info("抓蓝色球")
             time.sleep(0.5)
             by_cmd.send_angle_claw_arm(45)
@@ -709,7 +709,7 @@ class up_tower():
         calibrate_new(tlabel.TOWER, offset = 20, run = True)
         time.sleep(1)
         # calibrate(tlabel.TOWER, 27, False, 6)
-        by_cmd.send_distance_x(-10, 100)
+        by_cmd.send_distance_x(-10, 100) # used to be 120
         time.sleep(1)
         # 上古參數
         # by_cmd.send_distance_y(-10, 50) # 80
@@ -724,10 +724,11 @@ class up_tower():
         # by_cmd.send_speed_y(-10)
         # time.sleep(0.15)
         # 8822
-        # by_cmd.send_distance_y(-10, 50)
-        # 891
-        by_cmd.send_distance_y(-10, 35)
+        by_cmd.send_distance_y(-10, 50)
         time.sleep(0.3)
+        # 891
+        # by_cmd.send_distance_y(-10, 35)
+        # time.sleep(0.3)
         
         by_cmd.send_angle_zhuan(10)
         time.sleep(12)
@@ -784,11 +785,11 @@ class get_rball():
         # time.sleep(2)
         # car_stop()
         # 8822 参数
-        # by_cmd.send_distance_y(-15, 40)
-        # time.sleep(1.5)
-        # 891 参数
         by_cmd.send_distance_y(-15, 40)
-        time.sleep(0.3)
+        time.sleep(0.5)
+        # 891 参数
+        # by_cmd.send_distance_y(-15, 40)
+        # time.sleep(0.3)
         calibrate_new(tlabel.RBALL,offset = 44, run = True)
         time.sleep(1)
         logger.info("抓红球")
@@ -1547,6 +1548,16 @@ class move_area2():
                 if len(resp_commands) == 0:
                     return
                 action_list = resp_commands
+
+                # 先检查一下 action 是否生成正确，如果不正确直接跳过
+                actions_keys = self.action_dict.keys()
+                try:
+                    for action in action_list:
+                        if not (action.get('action') in actions_keys):
+                            return
+                except:
+                    return
+                
                 # 进入停车区域
                 by_cmd.send_distance_y(10, 450)
                 time.sleep((450 * 5 / 1000) + 0.5)

subtask_8822.py

@@ -1548,6 +1548,16 @@ class move_area2():
                 if len(resp_commands) == 0:
                     return
                 action_list = resp_commands
+
+                # 先检查一下 action 是否生成正确，如果不正确直接跳过
+                actions_keys = self.action_dict.keys()
+                try:
+                    for action in action_list:
+                        if not (action.get('action') in actions_keys):
+                            return
+                except:
+                    return
+                
                 # 进入停车区域
                 by_cmd.send_distance_y(10, 450)
                 time.sleep((450 * 5 / 1000) + 0.5)

subtask_891.py

@@ -1547,6 +1547,16 @@ class move_area2():
                 if len(resp_commands) == 0:
                     return
                 action_list = resp_commands
+
+                # 先检查一下 action 是否生成正确，如果不正确直接跳过
+                actions_keys = self.action_dict.keys()
+                try:
+                    for action in action_list:
+                        if not (action.get('action') in actions_keys):
+                            return
+                except:
+                    return
+                
                 # 进入停车区域
                 by_cmd.send_distance_y(10, 450)
                 time.sleep((450 * 5 / 1000) + 0.5)

subtask_raw.py

@@ -555,7 +555,7 @@ class put_block():
         ret, box = filter.get(tlabel.HOSPITAL)
         if ret > 0:
             width = box[0][2] - box[0][0]
-            if width > 130: #135
+            if width > 125: #135
                 return True
         return False
     def exec(self):
@@ -650,7 +650,7 @@ class get_bball():
         time.sleep(0.5)
         for _ in range(3):
             by_cmd.send_position_axis_z(30, 155)
-            calibrate_right_new(tlabel.BBALL, offset = 18, run = True, run_speed = 5)
+            calibrate_right_new(tlabel.BBALL, offset = 10, run = True, run_speed = 5)
             logger.info("抓蓝色球")
             time.sleep(0.5)
             by_cmd.send_angle_claw_arm(45)
@@ -775,7 +775,7 @@ class get_rball():
         by_cmd.send_angle_scoop(20)
         # 上古參數
         # by_cmd.send_distance_y(-15, 50) # 50 # 70
-        by_cmd.send_istance_y(-15, 40) # 50 # 70
+        by_cmd.send_distance_y(-15, 40) # 50 # 70
         time.sleep(0.5)
         # 6_9 參數
         # by_cmd.send_distance_y(-15, 35)
@@ -1548,6 +1548,16 @@ class move_area2():
                 if len(resp_commands) == 0:
                     return
                 action_list = resp_commands
+
+                # 先检查一下 action 是否生成正确，如果不正确直接跳过
+                actions_keys = self.action_dict.keys()
+                try:
+                    for action in action_list:
+                        if not (action.get('action') in actions_keys):
+                            return
+                except:
+                    return
+                
                 # 进入停车区域
                 by_cmd.send_distance_y(10, 450)
                 time.sleep((450 * 5 / 1000) + 0.5)