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feat: 增加转塔动作

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bmy
2024-06-15 10:42:41 +08:00
parent 124c2d02ee
commit d9a68d408d
2 changed files with 11 additions and 7 deletions
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6
majtask.py
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@@ -62,9 +62,9 @@ class main_task():
error_abs = abs(self.lane_error) error_abs = abs(self.lane_error)
if error_abs > 50: if error_abs > 50:
speed = 15 speed = 11
elif error_abs > 45: elif error_abs > 45:
speed = 15 speed = 13
elif error_abs > 35: elif error_abs > 35:
speed = 15 speed = 15
elif error_abs > 25: 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*0.65)
pid_out = self.pid1.get(self.lane_error) pid_out = self.pid1.get(self.lane_error)
# pid_out = -pid_out # 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.by_cmd.send_speed_omega(pid_out)
self.socket.send_string("") self.socket.send_string("")

12
subtask.py
View File

@@ -523,16 +523,20 @@ class up_tower():
def exec(self): def exec(self):
logger.info("找到塔") logger.info("找到塔")
car_stop() car_stop()
time.sleep(1)
calibrate_new(tlabel.TOWER, offset = 27, run = True) calibrate_new(tlabel.TOWER, offset = 27, run = True)
by_cmd.send_light(1) time.sleep(1)
time.sleep(0.5)
by_cmd.send_light(0)
# calibrate(tlabel.TOWER, 27, False, 6) # calibrate(tlabel.TOWER, 27, False, 6)
by_cmd.send_distance_x(-10, 130) by_cmd.send_distance_x(-10, 130)
time.sleep(1) time.sleep(1)
by_cmd.send_distance_y(-10, 50) by_cmd.send_distance_y(-10, 50)
time.sleep(3) time.sleep(3)
by_cmd.send_angle_zhuan(10)
time.sleep(9)
by_cmd.send_distance_y(10, 50)
time.sleep(1)
by_cmd.send_angle_zhuan(0)
time.sleep(1)
# while True: # while True:
# pass # pass
# 下一动作预备位置 # 下一动作预备位置