feat: 增加转塔动作

majtask.py

@@ -62,9 +62,9 @@ class main_task():
             error_abs = abs(self.lane_error)
 
             if error_abs > 50:
-                speed = 15
+                speed = 11
             elif error_abs > 45:
-                speed = 15
+                speed = 13
             elif error_abs > 35:
                 speed = 15
             elif error_abs > 25:
@@ -94,7 +94,7 @@ class main_task():
             # pid_out = self.pid1.get(self.lane_error*0.65)
             pid_out = self.pid1.get(self.lane_error)
             # pid_out = -pid_out
-            logger.debug(f"err={self.lane_error}, pwm out={pid_out}")
+            # logger.debug(f"err={self.lane_error}, pwm out={pid_out}")
             self.by_cmd.send_speed_omega(pid_out)
             
         self.socket.send_string("")