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补交raw参数更改

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bmy
2024-08-08 22:23:57 +08:00
parent 4f2103d984
commit 7e3e280257
2 changed files with 12 additions and 12 deletions
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10
cfg_subtask.toml.raw.bak
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@@ -1,5 +1,5 @@
[get_block] [get_block]
pid_kp = 1.2 pid_kp = 1.0
pid_ki = 0 pid_ki = 0
pid_kd = 0 pid_kd = 0
first_block = "blue" first_block = "blue"
@@ -20,17 +20,17 @@ pid_ki = 0
pid_kd = 0 pid_kd = 0
[get_rball] [get_rball]
pid_kp = 1.2 pid_kp = 1.0
pid_ki = 0 pid_ki = 0
pid_kd = 0 pid_kd = 0
[put_bball] [put_bball]
pid_kp = 1.8 pid_kp = 1.5
pid_ki = 0 pid_ki = 0
pid_kd = 0 pid_kd = 0
[put_hanoi1] [put_hanoi1]
pid_kp = 0.7 pid_kp = 0.5
pid_ki = 0 pid_ki = 0
pid_kd = 0 pid_kd = 0
@@ -50,7 +50,7 @@ pid_kd = 0
pid_kp = 1.2 pid_kp = 1.2
pid_ki = 0 pid_ki = 0
pid_kd = 0 pid_kd = 0
llm_enable = false llm_enable = true
[kick_ass] [kick_ass]
pid_kp = 0.8 pid_kp = 0.8

14
subtask.py
View File

@@ -666,7 +666,7 @@ class get_bball():
time.sleep(0.5) time.sleep(0.5)
by_cmd.send_distance_axis_z(30, -40) by_cmd.send_distance_axis_z(30, -40)
time.sleep(0.5) time.sleep(0.5)
by_cmd.send_angle_claw_arm(80) by_cmd.send_angle_claw_arm(90)
time.sleep(0.5) time.sleep(0.5)
by_cmd.send_angle_claw(54) by_cmd.send_angle_claw(54)
time.sleep(0.5) time.sleep(0.5)
@@ -1018,7 +1018,7 @@ class put_hanoi2():
time.sleep(0.5) time.sleep(0.5)
logger.info("抓大平台") logger.info("抓大平台")
if utils.direction is tlabel.RMARK: 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_position_axis_x(1, 150)
by_cmd.send_angle_claw(63) by_cmd.send_angle_claw(63)
time.sleep(2) time.sleep(2)
@@ -1030,7 +1030,7 @@ class put_hanoi2():
time.sleep(1) time.sleep(1)
pass pass
else: 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_position_axis_x(1, 40)
by_cmd.send_angle_claw(63) by_cmd.send_angle_claw(63)
time.sleep(2) time.sleep(2)
@@ -1078,7 +1078,7 @@ class put_hanoi2():
time.sleep(0.5) time.sleep(0.5)
logger.info("抓中平台") logger.info("抓中平台")
if utils.direction is tlabel.RMARK: 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_position_axis_x(1, 150)
by_cmd.send_angle_claw(55) by_cmd.send_angle_claw(55)
time.sleep(2) time.sleep(2)
@@ -1090,7 +1090,7 @@ class put_hanoi2():
time.sleep(1) time.sleep(1)
pass pass
else: 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_position_axis_x(1, 40)
by_cmd.send_angle_claw(55) by_cmd.send_angle_claw(55)
time.sleep(2) time.sleep(2)
@@ -1139,7 +1139,7 @@ class put_hanoi2():
time.sleep(0.5) time.sleep(0.5)
logger.info("抓小平台") logger.info("抓小平台")
if utils.direction is tlabel.RMARK: 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_position_axis_x(1, 150)
by_cmd.send_angle_claw(50) by_cmd.send_angle_claw(50)
time.sleep(2) time.sleep(2)
@@ -1151,7 +1151,7 @@ class put_hanoi2():
time.sleep(2) time.sleep(2)
pass pass
else: 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_position_axis_x(1, 40)
by_cmd.send_angle_claw(50) by_cmd.send_angle_claw(50)
time.sleep(2) time.sleep(2)