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
@@ -28,9 +29,10 @@ class main_task():
     def parse_data(self,data):
         if data.get('code') == 0:
             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.x += ck_val[0]
+                self.y += ck_val[1]
                 self.error_counts += 1
         else:
             pass
@@ -92,7 +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("")