feat: 增加最後對準基地運行

feat: 增加原始模型參數和任務版本

subtask.py

@@ -1439,7 +1439,7 @@ class kick_ass():
         logger.info("扫黑除暴初始化")
         self.pos_gap1 = cfg['kick_ass']['pos_gap1']
         self.pos_gap2 = cfg['kick_ass']['pos_gap2']
-        self.target_person = cfg_args['kick_ass']['target_person']
+        self.target_person = cfg_args['lane_mode']['mode_index']
 
         # by_cmd.send_angle_claw(15)
         by_cmd.send_position_axis_x(1, 160)
@@ -1477,6 +1477,16 @@ class kick_ass():
         by_cmd.send_position_axis_x(1, 120)
         time.sleep(1)
         logger.debug("結束任務，前進四")
+
+        filter.switch_camera(2)
+        for _ in range(3):
+            by_cmd.send_speed_x(15)
+        while True:
+            ret, box = filter.get(tlabel.BASE)
+            if ret:
+                error = (box[0][2] + box[0][0] - 320) / 2
+            by_cmd.send_speed_omega(-error * 0.8)
+            time.sleep(0.02)
         # by_cmd.send_speed_x(25)
         # time.sleep(4)
         pass