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

test/test_cali.py

@@ -34,15 +34,16 @@ def signal_handler(sig, frame):
 
 offset = 0
 signal.signal(signal.SIGTERM, signal_handler)
+cmd_py_obj.send_speed_x(15)
 while True:
-    time.sleep(0.2)
-    ret, box = filter.get(tlabel.LMARK)
-    if ret:
-        # 宽度大于 41 停车
-        print(f"width: {box[0][2] - box[0][0]} height: {box[0][3] - box[0][1]}")
+
+    time.sleep(0.02)
+    ret, box = filter.get(tlabel.BASE)
     # if ret:
-    #     error = (box[0][2] + box[0][0] - 320) / 2 + offset
-    #     print(error)
-        
-    #     cmd_py_obj.send_speed_omega(-error * 0.8)
+        # 宽度大于 41 停车
+        # print(f"width: {box[0][2] - box[0][0]} height: {box[0][3] - box[0][1]}")
+    if ret:
+        error = (box[0][2] + box[0][0] - 320) / 2 + offset
+        print(error)
+        cmd_py_obj.send_speed_omega(-error * 0.8)
 car_stop()