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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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52
subtask_8822.py
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@@ -1112,7 +1112,7 @@ 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 +1124,7 @@ 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 +1173,7 @@ 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 +1189,7 @@ 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)
@@ -1610,44 +1610,26 @@ 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)
@@ -1669,6 +1651,8 @@ class kick_ass():
# by_cmd.send_speed_x(25)
# time.sleep(4)
pass
def nexec(self):
pass
def after(self):