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pref: 扫黑除暴动作修改

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bmy
2024-08-12 14:56:20 +08:00
parent 18154917a1
commit 7ae8162da7
4 changed files with 89 additions and 128 deletions
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77
subtask.py
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@@ -557,7 +557,7 @@ class put_block():
ret, box = filter.get(tlabel.HOSPITAL)
if ret > 0:
width = box[0][2] - box[0][0]
if width > 135:
if width > 130: #135
return True
return False
def exec(self):
@@ -568,7 +568,7 @@ class put_block():
by_cmd.send_distance_x(10, 100)
by_cmd.send_position_axis_z(30, 0)
time.sleep(0.5)
by_cmd.send_position_axis_x(1, 50) # 20
by_cmd.send_position_axis_x(1, 30) # 20
time.sleep(1)
by_cmd.send_angle_claw(63)
time.sleep(1)
@@ -593,7 +593,7 @@ class put_block():
time.sleep(1)
by_cmd.send_position_axis_z(30, 0)
time.sleep(0.5)
by_cmd.send_position_axis_x(1, 50)
by_cmd.send_position_axis_x(1, 30)
time.sleep(1.5)
by_cmd.send_angle_claw(45)
time.sleep(1)
@@ -770,8 +770,8 @@ 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_distance_y(-15, 40) # 50 # 70
# time.sleep(1.5)
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)
@@ -779,9 +779,6 @@ class get_rball():
# by_cmd.send_distance_y(-15, 45)
# time.sleep(2)
# car_stop()
# 8822 参数
by_cmd.send_distance_y(-15, 40)
time.sleep(1.5)
calibrate_new(tlabel.RBALL,offset = 44, run = True)
time.sleep(1)
logger.info("抓红球")
@@ -829,14 +826,14 @@ class put_bball():
calibrate_new(tlabel.BASKET,offset = -40, run = True, run_speed = 6)
# by_cmd.send_distance_x(10, 10)
# 向左运动
# by_cmd.send_distance_y(-10, 35)
by_cmd.send_distance_y(-10, 35)
# by_cmd.send_angle_storage(10)
# time.sleep(1)
by_cmd.send_angle_storage(50)
logger.info("把球放篮筐里")
time.sleep(2)
time.sleep(1)
# by_cmd.send_distance_y(10, 55)
by_cmd.send_angle_storage(20)
# time.sleep(1)
@@ -962,7 +959,7 @@ 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"] - 0.2, 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
@@ -1112,7 +1109,7 @@ class put_hanoi2():
time.sleep(0.5)
logger.info("放中平台")
if utils.direction is tlabel.RMARK:
by_cmd.send_position_axis_z(30, 140)
by_cmd.send_position_axis_z(30, 150)
time.sleep(2)
by_cmd.send_position_axis_x(1, 150)
time.sleep(2)
@@ -1124,7 +1121,7 @@ class put_hanoi2():
time.sleep(1)
pass
else:
by_cmd.send_position_axis_z(30, 140)
by_cmd.send_position_axis_z(30, 150)
time.sleep(2)
by_cmd.send_position_axis_x(1, 40)
time.sleep(2)
@@ -1173,7 +1170,7 @@ class put_hanoi2():
time.sleep(0.5)
logger.info("放小平台")
if utils.direction is tlabel.RMARK:
by_cmd.send_position_axis_z(30, 200) # 170 #190(new)
by_cmd.send_position_axis_z(30, 210) # 170 #190(new)
time.sleep(1.5)
by_cmd.send_position_axis_x(1, 150)
time.sleep(2)
@@ -1189,7 +1186,7 @@ class put_hanoi2():
# car_stop()
pass
else:
by_cmd.send_position_axis_z(30, 200)
by_cmd.send_position_axis_z(30, 210)
time.sleep(1.5)
by_cmd.send_position_axis_x(1, 40)
time.sleep(2)
@@ -1540,6 +1537,14 @@ 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)
@@ -1610,44 +1615,26 @@ class kick_ass():
by_cmd.send_position_axis_x(1, 150)
# 移动到中间
by_cmd.send_distance_x(10, 295)
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)
# 先移动到第一个人的地方
by_cmd.send_distance_x(10, self.pos_gap1)
time.sleep(1.5)
if self.target_person == 1:
by_cmd.send_distance_x(-10, 150)
time.sleep(1.5)
car_stop()
elif self.target_person == 2:
by_cmd.send_distance_x(-10, 50)
time.sleep(1.5)
car_stop()
elif self.target_person == 3:
by_cmd.send_distance_x(10, 50)
time.sleep(1.5)
car_stop()
# target_distance = self.pos_gap1
pass
else:
by_cmd.send_distance_x(10, 150)
time.sleep(1.5)
car_stop()
# 先移动到第一个人的地方 假动作
# by_cmd.send_distance_x(10, self.pos_gap1)
# time.sleep(1.5)
# if self.target_person == 1:
# # target_distance = self.pos_gap1
# pass
# else:
# # target_distance = self.pos_gap1 + (self.target_person - 1) * self.pos_gap2 + (self.target_person - 1) * 10
# target_distance = (self.target_person - 1) * self.pos_gap2 + (self.target_person - 1) * 10
# by_cmd.send_distance_x(10, target_distance)
# logger.info(f"target distance {target_distance}")
# time.sleep(1.5 + (self.target_person - 1) * 0.7 )
# car_stop()
# target_distance = self.pos_gap1 + (self.target_person - 1) * self.pos_gap2 + (self.target_person - 1) * 10
target_distance = (self.target_person - 1) * self.pos_gap2 + (self.target_person - 1 - 1) * 10
by_cmd.send_distance_x(10, target_distance)
logger.info(f"target distance {target_distance}")
time.sleep(1.5 + (self.target_person - 1) * 0.7 )
car_stop()
# by_cmd.send_angle_claw_arm(225)
# time.sleep(0.5)