fix: 修正上次提交中的错误

majtask.py

@@ -1,6 +1,7 @@
 
 import zmq
 import time
+import numpy as np
 from loguru import logger
 import utils
 from utils import PidWrap
@@ -27,10 +28,12 @@ class main_task():
 
     def parse_data(self,data):
         if data.get('code') == 0:
-            self.x += data.get('data')[0]
-            self.y += data.get('data')[1]
-            self.error_counts += 1
-            
+            ck_val = data.get('data')
+            # logger.debug(ck_val)
+            if isinstance(ck_val, np.ndarray):  
+                self.x += ck_val[0]
+                self.y += ck_val[1]
+                self.error_counts += 1
         else:
             pass
 
@@ -91,7 +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("")