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feat: 更新扫黑除暴

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bmy
2024-06-09 22:31:32 +08:00
parent 9f4ffdbe7e
commit 6f426d9576
4 changed files with 22 additions and 11 deletions
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19
subtask.py
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@@ -603,7 +603,8 @@ class put_hanoi1():
time.sleep(0.5)
car_stop()
time.sleep(0.5)
by_cmd.send_distance_x(10, 200)
# by_cmd.send_distance_x(10, 200)
by_cmd.send_distance_x(10, 180)
time.sleep(0.5)
# 根据方向初始化执行器位置
@@ -613,7 +614,7 @@ class put_hanoi1():
by_cmd.send_angle_storage(0)
else:
by_cmd.send_position_axis_x(1, 150)
by_cmd.send_angle_claw_arm(215)
by_cmd.send_angle_claw_arm(220)
by_cmd.send_angle_storage(55)
time.sleep(1.5)
@@ -823,9 +824,12 @@ class move_area2():
def nexec(self):
by_cmd.send_position_axis_z(20, 0)
pass
# 扫黑除暴
class kick_ass():
def init(self):
while (by_cmd.send_angle_camera(180) == -1):
by_cmd.send_angle_camera(180)
logger.info("扫黑除暴初始化")
self.pos_gap1 = cfg['kick_ass']['pos_gap1']
self.pos_gap2 = cfg['kick_ass']['pos_gap2']
@@ -842,15 +846,22 @@ class kick_ass():
time.sleep(1)
calibrate_new(tlabel.SIGN, offset = 8, run = True)
time.sleep(0.5)
by_cmd.send_position_axis_z(20, 60)
if self.target_person == 1:
target_distance = self.pos_gap1
else:
target_distance = self.pos_gap1 + (self.target_person - 1) * self.pos_gap2 + (self.target_person - 1) * 10
by_cmd.send_distance_x(10, target_distance)
time.sleep(2)
time.sleep(5)
by_cmd.send_angle_claw_arm(220)
by_cmd.send_angle_claw(15)
by_cmd.send_position_axis_x(1, 160)
time.sleep(2)
by_cmd.send_position_axis_x(1, 0)
time.sleep(4)
by_cmd.send_position_axis_x(1, 160)
time.sleep(3)
pass
def nexec(self):
pass