From 7e3e280257030178ffa46bde4074e9cbc7c26e4d Mon Sep 17 00:00:00 2001
From: bmy <2583236812@qq.com>
Date: Thu, 8 Aug 2024 22:23:57 +0800
Subject: [PATCH] =?UTF-8?q?=E8=A1=A5=E4=BA=A4raw=E5=8F=82=E6=95=B0?=
 =?UTF-8?q?=E6=9B=B4=E6=94=B9?=
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---
 cfg_subtask.toml.raw.bak | 10 +++++-----
 subtask.py               | 14 +++++++-------
 2 files changed, 12 insertions(+), 12 deletions(-)

diff --git a/cfg_subtask.toml.raw.bak b/cfg_subtask.toml.raw.bak
index 1d0c998..8a02906 100644
--- a/cfg_subtask.toml.raw.bak
+++ b/cfg_subtask.toml.raw.bak
@@ -1,5 +1,5 @@
 [get_block]
-pid_kp = 1.2
+pid_kp = 1.0
 pid_ki = 0
 pid_kd = 0
 first_block = "blue"
@@ -20,17 +20,17 @@ pid_ki = 0
 pid_kd = 0
 
 [get_rball]
-pid_kp = 1.2
+pid_kp = 1.0
 pid_ki = 0
 pid_kd = 0
 
 [put_bball]
-pid_kp = 1.8
+pid_kp = 1.5
 pid_ki = 0
 pid_kd = 0
 
 [put_hanoi1]
-pid_kp = 0.7
+pid_kp = 0.5
 pid_ki = 0
 pid_kd = 0
 
@@ -50,7 +50,7 @@ pid_kd = 0
 pid_kp = 1.2
 pid_ki = 0
 pid_kd = 0
-llm_enable = false
+llm_enable = true
 
 [kick_ass]
 pid_kp = 0.8
diff --git a/subtask.py b/subtask.py
index a986fb1..1eed6a0 100644
--- a/subtask.py
+++ b/subtask.py
@@ -666,7 +666,7 @@ class get_bball():
             time.sleep(0.5)
             by_cmd.send_distance_axis_z(30, -40)
             time.sleep(0.5)
-            by_cmd.send_angle_claw_arm(80)
+            by_cmd.send_angle_claw_arm(90)
             time.sleep(0.5)
             by_cmd.send_angle_claw(54)
             time.sleep(0.5)
@@ -1018,7 +1018,7 @@ class put_hanoi2():
         time.sleep(0.5)
         logger.info("抓大平台")
         if utils.direction is tlabel.RMARK:
-            by_cmd.send_position_axis_z(30, 30)
+            by_cmd.send_position_axis_z(30, 40)
             by_cmd.send_position_axis_x(1, 150)
             by_cmd.send_angle_claw(63)
             time.sleep(2)
@@ -1030,7 +1030,7 @@ class put_hanoi2():
             time.sleep(1)
             pass
         else:
-            by_cmd.send_position_axis_z(30, 30)
+            by_cmd.send_position_axis_z(30, 40)
             by_cmd.send_position_axis_x(1, 40)
             by_cmd.send_angle_claw(63)
             time.sleep(2)
@@ -1078,7 +1078,7 @@ class put_hanoi2():
         time.sleep(0.5)
         logger.info("抓中平台")
         if utils.direction is tlabel.RMARK:
-            by_cmd.send_position_axis_z(30, 30)
+            by_cmd.send_position_axis_z(30, 40)
             by_cmd.send_position_axis_x(1, 150)
             by_cmd.send_angle_claw(55)
             time.sleep(2)
@@ -1090,7 +1090,7 @@ class put_hanoi2():
             time.sleep(1)
             pass
         else:
-            by_cmd.send_position_axis_z(30, 30)
+            by_cmd.send_position_axis_z(30, 40)
             by_cmd.send_position_axis_x(1, 40)
             by_cmd.send_angle_claw(55)
             time.sleep(2)
@@ -1139,7 +1139,7 @@ class put_hanoi2():
         time.sleep(0.5)
         logger.info("抓小平台")
         if utils.direction is tlabel.RMARK:
-            by_cmd.send_position_axis_z(30, 30)
+            by_cmd.send_position_axis_z(30, 40)
             by_cmd.send_position_axis_x(1, 150)
             by_cmd.send_angle_claw(50)
             time.sleep(2)
@@ -1151,7 +1151,7 @@ class put_hanoi2():
             time.sleep(2)
             pass
         else:
-            by_cmd.send_position_axis_z(30, 30)
+            by_cmd.send_position_axis_z(30, 40)
             by_cmd.send_position_axis_x(1, 40)
             by_cmd.send_angle_claw(50)
             time.sleep(2)